Question: Why are the particles sampling velocities given to be in m/s

[geoeo]

As far as I understand the particles in the grid live in the grid space (cells).
But according to the Params structure (comments) the sampling velocities are in m/s?

[TheCodez]

Yes, currently particles are in the grid space though it would be better if they were in world space. This PR fixes that, but I haven't got around to integrating it yet.
So you're right, the documentation for the param says m/s when in reality it's currently m/s / resolution (same applies to the process noise). I'll try to fix that once I find some time.

[geoeo]

Thanks for clearing it up. I was wondering why I had to put higher noise values than would be expected with m/s