float X[6] =
{
  x,  //Position
  y,  //Position
  z,  //Position
  _x, //Velocity
  _y, //Velocity
  _z  //Velocity
};

float F[6][6] = {
  { 1, 0, 0, t, 0, 0 },
  { 0, 1, 0, 0, t, 0 },
  { 0, 0, 1, 0, 0, t },
  { 0, 0, 0, 1, 0, 0 },
  { 0, 0, 0, 0, 1, 0 },
  { 0, 0, 0, 0, 0, 1 },
};