"It might have been simpler to do a simple substitution { Ns = Mobs } in Nsta to get Mobsta. Those genetic algorithms can be complicated, or do you have a library for that, too?"

"Oh, good, you beat me to it - I was still typing the response. That will make it work no matter which of Nsta or Mobs is larger. Thanks for updating the code."

"Simon, Thanks for your EKF implementation and tutorial. They are both very helpful in understanding and getting started using Kalman filters. I do have a couple of suggestions for making improvements that you may consider:
1. Revisiting the #define…"