Implementing a Kalman Filter in Nengo

I know you can implement a Kalman Filter using Principle 3 of the NEF and this is covered in the NEF book. However, I has anyone actually tried to implement this in Nengo, 1.4 or 2.x?

I ask, because I have this vague memory of Chris talking during a lab meeting about how Aaron’s heterogenous synapses would make implementing a Kalman Filter easier. Aaron doesn’t remember it, so I’m afraid that I’m mis-remembering what was actually discussed.