@Jan-Reitinger I upgraded your example. Now it uses exact reference model both for verification and emulating output measurements to be used as input to the estimator.
However, there is some timing issue here. I use tick=0.02, ntick0=4. It means period of the task is 80 ms. If I go lower with that, I receive overtime in diagnostics. This is odd, because it means that computational load is too high.
It should be much less than that.
Here is my current version:
EKF_John.zip