questions on some logic used in code

[mkandulavm]

Hi

I have some questions on some logic

1. In rebuildR() inside GPSAccKalman.cpp, there is this line double velSigma = posSigma * 1.0e-01;

Can you please explain this ? Do you suggest or have ideas how to improve this by measuring the device parameters/sensors ?

2. In GPSAccKalmanAlloc() inside GPSAccKalman.cpp, how to prepare a proper value for accDev ? Please suggest here also how it can be improved.

3. for calling GPSAccKalmanPredict(), Is it wise to accumulate the sensors , average it and call this function OR keep calling for every callback from the device ?

Thank you so much for the help.