Index: branch/sabot/sp4abc/sp4a3/sp4a3_kalman.c
===================================================================
--- branch/sabot/sp4abc/sp4a3/sp4a3_kalman.c	(revision 462)
+++ branch/sabot/sp4abc/sp4a3/sp4a3_kalman.c	(revision 463)
@@ -118,17 +118,17 @@
 	Sub_Mat_Mat(2,1,T21a,2,1,T21b,R21);	if (!Equal_Mat_Mat(RST21,R21)) 		error("Erreur calcul Soustraction 2x1");
 	Sub_Mat_Mat(4,4,T44a,4,4,T44b,R44);	if (!Equal_Mat_Mat(RST44,R44)) 		error("Erreur calcul Soustraction 4x4");
 	Mul_Mat_Mat(4,4,T44a,4,4,T44b,R44);	if (!Equal_Mat_Mat(RMT44T44,R44)) 	error("Erreur calcul Multiplication 4x4 4x4");
-	//Mul_Mat_Mat(4,4,T44a,4,1,T41a,R41);	if (!Equal_Mat_Mat(RMT44T41,R41)) 	error("Erreur calcul Multiplication 4x4 4x1");
-	//Mul_Mat_Mat(4,4,T44a,4,2,T42a,R42);	if (!Equal_Mat_Mat(RMT44T42,R42)) 	error("Erreur calcul Multiplication 4x4 4x2");
-	//Mul_Mat_Mat(4,2,T42a,2,1,T21a,R41);	if (!Equal_Mat_Mat(RMT42T21,R41)) 	error("Erreur calcul Multiplication 4x2 2x1");
-	//Mul_Mat_Mat(4,2,T42a,2,2,T22a,R42);	if (!Equal_Mat_Mat(RMT42T22,R42)) 	error("Erreur calcul Multiplication 4x2 2x2");
-	//Mul_Mat_Mat(4,2,T42a,2,4,T24,R44);	if (!Equal_Mat_Mat(RMT42T24,R44)) 	error("Erreur calcul Multiplication 4x2 2x4");
-	//Mul_Mat_Mat(2,4,T24,4,1,T41a,R21);	if (!Equal_Mat_Mat(RMT24T41,R21)) 	error("Erreur calcul Multiplication 2x4 4x1");
-	//Mul_Mat_Mat(2,4,T24,4,2,T42a,R22);	if (!Equal_Mat_Mat(RMT24T42,R22)) 	error("Erreur calcul Multiplication 2x4 4x2");
-	//Mul_Mat_Mat(2,4,T24,4,4,T44a,R24);	if (!Equal_Mat_Mat(RMT24T44,R24)) 	error("Erreur calcul Multiplication 2x4 4x4");
+	Mul_Mat_Mat(4,4,T44a,4,1,T41a,R41);	if (!Equal_Mat_Mat(RMT44T41,R41)) 	error("Erreur calcul Multiplication 4x4 4x1");
+	Mul_Mat_Mat(4,4,T44a,4,2,T42a,R42);	if (!Equal_Mat_Mat(RMT44T42,R42)) 	error("Erreur calcul Multiplication 4x4 4x2");
+    Mul_Mat_Mat(4,2,T42a,2,1,T21a,R41);	if (!Equal_Mat_Mat(RMT42T21,R41)) 	error("Erreur calcul Multiplication 4x2 2x1");
+	Mul_Mat_Mat(4,2,T42a,2,2,T22a,R42);	if (!Equal_Mat_Mat(RMT42T22,R42)) 	error("Erreur calcul Multiplication 4x2 2x2");
+	Mul_Mat_Mat(4,2,T42a,2,4,T24,R44);	if (!Equal_Mat_Mat(RMT42T24,R44)) 	error("Erreur calcul Multiplication 4x2 2x4");
+	Mul_Mat_Mat(2,4,T24,4,1,T41a,R21);	if (!Equal_Mat_Mat(RMT24T41,R21)) 	error("Erreur calcul Multiplication 2x4 4x1");
+	Mul_Mat_Mat(2,4,T24,4,2,T42a,R22);	if (!Equal_Mat_Mat(RMT24T42,R22)) 	error("Erreur calcul Multiplication 2x4 4x2");
+	Mul_Mat_Mat(2,4,T24,4,4,T44a,R24);	if (!Equal_Mat_Mat(RMT24T44,R24)) 	error("Erreur calcul Multiplication 2x4 4x4");
 	Transpose_Mat(2,4,T24,R42);		if (!Equal_Mat_Mat(RTT24,R42)) 		error("Erreur calcul Transposition 2x4");
 	Transpose_Mat(4,4,T44a,R44);	if (!Equal_Mat_Mat(RTT44,R44)) 		error("Erreur calcul Transposition 4x4");
-	//Inverse_Mat_22(2,2,T22a,R22);	if (!Equal_Mat_Mat(RInvT22,R22)) 	error("Erreur calcul Inversion 2x2");
+	Inverse_Mat_22(2,2,T22a,R22);	if (!Equal_Mat_Mat(RInvT22,R22)) 	error("Erreur calcul Inversion 2x2");
 	printf("Test unitaires OK.\n");
 }
 
@@ -219,28 +219,29 @@
 			double Ht[4][2];
 			double S1[2][4];//Matrice intermédiaire de calcul
 			double S2[2][2];//Matrice intermédiaire de calcul
-			double S2t[2][2];//Matrice intermédiaire de calcul
+			double S2i[2][2];//Matrice intermédiaire de calcul
 			Transpose_Mat(2,4,H,Ht);
 			Mul_Mat_Mat(4,4,P,4,2,Ht,K);//P*Ht
 			Mul_Mat_Mat(2,4,H,4,4,P,S1);//H*P
 			Mul_Mat_Mat(2,4,S1,4,2,Ht,S2);//H*P*Ht
 			Add_Mat_Mat(2,2,S2,2,2,R,S2);
-			Inverse_Mat_22(2,2,S2,S2t);
-			Mul_Mat_Mat(4,2,K,2,2,Ht,K);
+			Inverse_Mat_22(2,2,S2,S2i);
+			Mul_Mat_Mat(4,2,K,2,2,S2i,K);
 
 			Plot_Mat(K,"K = ");
 
 			//X = X + K*([xb(i);yb(i)]-H*X);
 			double Obs[2][1]={{x},{y}};
-			double S[2][1];//Matrice intermédiaire de calcul
-			double S0[4][2];
-			Mul_Mat_Mat(2,4,H,4,1,X,S);
-			Sub_Mat_Mat(2,1,Obs,2,1,S,S);
-			Mul_Mat_Mat(4,2,K,2,1,S,S0);
+			double Delta[2][1];//Matrice intermédiaire de calcul
+			double S0[4][1];
+			Mul_Mat_Mat(2,4,H,4,1,X,Delta);
+			Sub_Mat_Mat(2,1,Obs,2,1,Delta,Delta);
+
+			Plot_Mat(Delta,"DELTA = Obs - H.X(k+1|k)");
+
+			Mul_Mat_Mat(4,2,K,2,1,Delta,S0);
 			Add_Mat_Mat(4,1,X,4,1,S0,X);
 
-			//Plot_Mat(Delta,"DELTA = Obs - H.X(k+1|k)");
-
             Plot_Mat(X," X(k+1|k+1) = X(k+1|k) + K.Delta = ");
 
 			// P = P - K*H*P;
