constants, some undocumented

[r2evans]

Thank you for the tutorial and notebooks!

In Extended-Kalman-Filter-CHCV you reference some constants, but not all of them are clear to me.

    sGPS     = 0.5*8.8*dt[filterstep]**2  # assume 8.8m/s2 as maximum acceleration
    sCourse  = 2.0*dt[filterstep] # assume 0.5rad/s as maximum turn rate
    sVelocity= 35.0*dt[filterstep] # assume 8.8m/s2 as maximum acceleration

• 8.8 m/s2 seems reasonable; one site comparing various race cars suggests Formula 1 accelerates at upwards of 11.9 m/s2 (90kmph in 2.1sec), but the other two (Indy and NASCAR) are 8.3 and below;
• 0.5 rad/s seems decent, I'm not certain of its perfectness (for the same cars), are the consequences of over-estimating turn rate significant? (Is it "just" under-filtering or lack of sensitivity to outliers?)
• 2.0?
• 35.0?