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Can you maybe clarify what your issue is? I'm not sure I understand, apologies. What do you expect from the filter's behaviour that you're not seeing? The Jacobian matrix is a matrix of partial derivatives from the transfer function. In this case, the equation for the X dimension in the transfer function includes the pitch dimension, so that partial derivative needs to be computed. That partial derivative include the time delta directly (delta) as well as the oneHalfATSquared term, which is computed as 0.5 * delta * delta.