I have question to the process Jacobian in PredictFunctions.c file.
There is #if #else preprocessing macro in _UpdateProcessJacobian() which selects code that updates ∂v∂q submatrix in your explanation here:
I don't understand why the #if branch is selected instead of #else branch, because according to the explanation the #else branch should be selected.
gKalmanFilter.R_BinN*q0aXdT - gKalmanFilter.R_BinN*q0aYdT - gKalmanFilter.R_BinN*q0aZdT);
come from? Why is not there only
q0aXdT - q3aYdT + q2aZdT