Yes. Acceleration *should* be multiplied by dt.
Yes. Acceleration *should* be multiplied by dt.

Otherwise the answers are just bogus (like going from 0 to 1km/s in half
a second, when the platform isn't actually moving). Paul must have had a
delta-T of much closer to 1 second to not have noticed. And I checked,
the 21-state and 23-state estimators both have this wrong.

GaloisInc/ivory-tower-stm32,GaloisInc/ivory-tower-stm32,GaloisInc/ivory-tower-stm32