From 04132ff45bc659c564317d9ebec11291be9a2493 Mon Sep 17 00:00:00 2001
From: Chanchana Sornsoontorn <off9955555@gmail.com>
Date: Wed, 12 Sep 2018 10:50:03 +0700
Subject: [PATCH 1/4] Use dt; It was unused before

---
 04-One-Dimensional-Kalman-Filters.ipynb | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/04-One-Dimensional-Kalman-Filters.ipynb b/04-One-Dimensional-Kalman-Filters.ipynb
index 35a75c5..0a646d4 100644
--- a/04-One-Dimensional-Kalman-Filters.ipynb
+++ b/04-One-Dimensional-Kalman-Filters.ipynb
@@ -722,7 +722,7 @@
     "x = gaussian(0., 20.**2)  # dog's position, N(0, 20**2)\n",
     "velocity = 1\n",
     "dt = 1. # time step in seconds\n",
-    "process_model = gaussian(velocity, process_var) \n",
+    "process_model = gaussian(velocity*dt, process_var) # displacement to add to x\n",
     "  \n",
     "# simulate dog and get measurements\n",
     "dog = DogSimulation(\n",

From ff7873461ab64c488d20f2b2dc02941f83417730 Mon Sep 17 00:00:00 2001
From: Chanchana Sornsoontorn <off9955555@gmail.com>
Date: Wed, 12 Sep 2018 11:01:07 +0700
Subject: [PATCH 2/4] Use a better example for update function

---
 04-One-Dimensional-Kalman-Filters.ipynb | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/04-One-Dimensional-Kalman-Filters.ipynb b/04-One-Dimensional-Kalman-Filters.ipynb
index 0a646d4..c3c1898 100644
--- a/04-One-Dimensional-Kalman-Filters.ipynb
+++ b/04-One-Dimensional-Kalman-Filters.ipynb
@@ -454,7 +454,7 @@
     {
      "data": {
       "text/plain": [
-       "𝒩(μ=10.377, 𝜎²=0.037)"
+       "𝒩(μ=10.800, 𝜎²=0.008)"
       ]
      },
      "execution_count": 10,
@@ -472,7 +472,11 @@
     "    posterior = gaussian_multiply(likelihood, prior)\n",
     "    return posterior\n",
     "\n",
-    "update(pos, move)"
+    "# test the update function\n",
+    "predicted_pos = gaussian(10., .2**2)\n",
+    "measured_pos = gaussian(11., .1**2)\n",
+    "estimated_pos = update(predicted_pos, measured_pos)\n",
+    "estimated_pos"
    ]
   },
   {

From 05818fc66b76269969f1aff4dec3ff79accc9cc4 Mon Sep 17 00:00:00 2001
From: Chanchana Sornsoontorn <off9955555@gmail.com>
Date: Wed, 12 Sep 2018 11:53:33 +0700
Subject: [PATCH 3/4] Fix typo likelihood -> gaussian in the markdown text

---
 04-One-Dimensional-Kalman-Filters.ipynb | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/04-One-Dimensional-Kalman-Filters.ipynb b/04-One-Dimensional-Kalman-Filters.ipynb
index c3c1898..6ab7705 100644
--- a/04-One-Dimensional-Kalman-Filters.ipynb
+++ b/04-One-Dimensional-Kalman-Filters.ipynb
@@ -938,7 +938,7 @@
     "\n",
     "```python\n",
     "prior = predict(x, process_model)\n",
-    "likelihood = likelihood(z, sensor_var)\n",
+    "likelihood = gaussian(z, sensor_var)\n",
     "x = update(prior, likelihood)\n",
     "```\n",
     "\n",

From 353c5c1d4655f0c3c990b3ed0fa0bf10f5857ec8 Mon Sep 17 00:00:00 2001
From: Chanchana Sornsoontorn <off9955555@gmail.com>
Date: Thu, 13 Sep 2018 03:03:52 +0700
Subject: [PATCH 4/4] Change error value to be consistent with its description

---
 04-One-Dimensional-Kalman-Filters.ipynb | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/04-One-Dimensional-Kalman-Filters.ipynb b/04-One-Dimensional-Kalman-Filters.ipynb
index 6ab7705..4086be2 100644
--- a/04-One-Dimensional-Kalman-Filters.ipynb
+++ b/04-One-Dimensional-Kalman-Filters.ipynb
@@ -1290,7 +1290,7 @@
     }
    ],
    "source": [
-    "book_plots.plot_errorbars([(160, 8, 'A'), (170, 8, 'B')], xlims=(150, 180))"
+    "book_plots.plot_errorbars([(160, 3, 'A'), (170, 9, 'B')], xlims=(150, 180))"
    ]
   },
   {