filterAndAddLocation in Kotlin

private fun filterAndAddLocation(location: Location): Boolean {

    val age = getLocationAge(location)

    if (age > 5 * 1000) { //more than 5 seconds
        Log.d(LOG_TAG, "Location is old")
        oldLocationList.add(location)
        return false
    }

    if (location.accuracy <= 0) {
        Log.d(LOG_TAG, "Latitidue and longitude values are invalid.")
        noAccuracyLocationList.add(location)
        return false
    }

    //setAccuracy(newLocation.getAccuracy());
    val horizontalAccuracy = location.accuracy
    if (horizontalAccuracy > 1000) { //10meter filter
        Log.d(LOG_TAG, "Accuracy is too low.")
        inaccurateLocationList.add(location)
        return false
    }


    /* Kalman Filter */
    var Qvalue: Float = 3.0f

    val locationTimeInMillis = location.elapsedRealtimeNanos / 1000000
    val elapsedTimeInMillis = locationTimeInMillis - runStartTimeInMillis

    if (currentSpeed == 0.0f) {
        Qvalue = 3.0f //3 meters per second
    } else {
        Qvalue = currentSpeed // meters per second
    }

    kalmanFilter.Process(location.latitude, location.longitude, location.accuracy, elapsedTimeInMillis, Qvalue)
    val predictedLat = kalmanFilter.get_lat()
    val predictedLng = kalmanFilter.get_lng()

    val predictedLocation = Location("")//provider name is unecessary
    predictedLocation.latitude = predictedLat//your coords of course
    predictedLocation.longitude = predictedLng
    val predictedDeltaInMeters = predictedLocation.distanceTo(location)

    if (predictedDeltaInMeters > 60) {
        Log.d(LOG_TAG, "Kalman Filter detects mal GPS, we should probably remove this from track")
        kalmanFilter.consecutiveRejectCount += 1

        if (kalmanFilter.consecutiveRejectCount > 3) {
            kalmanFilter = KalmanLatLong(3f) //reset Kalman Filter if it rejects more than 3 times in raw.
        }

        kalmanNGLocationList.add(location)
        return false
    } else {
        kalmanFilter.consecutiveRejectCount = 0
    }

    /* Notifiy predicted location to UI */
    val intent = Intent("PredictLocation")
    intent.putExtra("location", predictedLocation)
    LocalBroadcastManager.getInstance(this.application).sendBroadcast(intent)

    Log.d(LOG_TAG, "Location quality is good enough.")
    currentSpeed = location.speed
    locationList.add(location)


    return true
}