Extend correction step

README.md

@@ -2,14 +2,14 @@
 
 ## Description
 
-The Performant Embedded Algebra Kit (PEAK) is a lightweight and easy-to-use library for performing various algebraic operations.
+The Performant Embedded Algebra Kit (PEAK) is a lightweight, easy-to-use library for performing various algebraic operations. This library is built on Lukas Freiheits's matrix structures and linear algebra code, originally developed for developed for Aquila Maris' [caput firmware](https://git.intern.spaceteamaachen.de/AQUILA_MARIS/caput_firmware/src/branch/main/caput). 
 
 ## Features
 
 - Matrix operations: Perform matrix addition, subtraction, multiplication, and inversion.
 - Kalman Filter implementations
     - basic Kalman Filter
-    - Dynamic Kalman Filter, with variable delta t
+    - Dynamic Kalman Filter, with variable delta t (WIP)
 
 ## Usage
 
@@ -70,6 +70,8 @@ sta::math::matrix m_res = m_i * m_a;
 
 ```
 
+### Kalman Filters
+Every Kalman filter object requires a measurement matrix *H* and a measurement covariance matrix *R*. These matrices will be used when the `correct` method is called with only the current state and a measurement value. If you are using multiple sensors, you can also pass new *H* and *R* matrices directly, which will then be used instead. This also allows you to handle changes in measurement uncertainty over time.
 ## Limitations
 
 As of now, only matrices with no more than 256 elements are supported.