Poked kalman

src/kalman.jl

 function kalman(R1,R2,theta, y, A, P)
-    # This is really a Kalman filter, not RLS
     ATP = A'*P;
     K = (P*A)/(R2+ATP*A);
     P = P - (P*A*ATP)./(R2 + ATP*A) + R1;
     yp = A'*theta
     e = (y-yp)[1];
-    red = 1;
-    # if abs(e) > 0.025
-    #     red = 0.2;
-    # end
-    theta = theta + K*e*red;
+    theta = theta + K*e;
 
     theta, P, e, yp[1]
 end
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