filter/accela: prevent overshoot with ewma

2 files changed, 3 insertions, 2 deletions

diff --git a/filter-accela/accela-settings.hpp b/filter-accela/accela-settings.hpp
index ce116d64..4e6ab9f6 100644
--- a/filter-accela/accela-settings.hpp
+++ b/filter-accela/accela-settings.hpp
@@ -51,7 +51,7 @@ struct settings_accela : opts
         pos_sensitivity(b, "translation-sensitivity", slider_value(1., .05, 1.5)),
         rot_deadzone(b, "rotation-deadzone", slider_value(.03, 0, .1)),
         pos_deadzone(b, "translation-deadzone", slider_value(.1, 0, 1)),
-        ewma(b, "ewma", slider_value(0, 0, 50)),
+        ewma(b, "ewma", slider_value(0, 0, 500)),
         rot_nonlinearity(b, "rotation-nonlinearity", slider_value(1.2, 1, 1.3))
     {}
 };
diff --git a/filter-accela/ftnoir_filter_accela.cpp b/filter-accela/ftnoir_filter_accela.cpp
index 0f4d9dfe..8d14361d 100644
--- a/filter-accela/ftnoir_filter_accela.cpp
+++ b/filter-accela/ftnoir_filter_accela.cpp
@@ -15,6 +15,7 @@ using std::fabs;
 using std::sqrt;
 using std::pow;
 using std::copysign;
+using std::fmin;
 
 constexpr double settings_accela::rot_gains[16][2];
 constexpr double settings_accela::pos_gains[16][2];
@@ -42,7 +43,7 @@ static void do_deltas(const double* deltas, double* output, double alpha, double
         return sqrt(ret);
     );
 
-    const double dist = alpha*dist_ + (1-alpha)*smoothed;
+    const double dist = fmin(dist_, alpha*dist_ + (1-alpha)*smoothed);
     smoothed = dist;
 
     const double value = double(fun(dist));