diff options
| author | DaMichel <mw.pub@welter-4d.de> | 2016-08-04 13:31:23 +0200 |
|---|---|---|
| committer | DaMichel <mw.pub@welter-4d.de> | 2016-08-04 15:04:13 +0200 |
| commit | b798b0ae5a971bbb43c6f47b667f108a747bfffe (patch) | |
| tree | dd569c6d5fd95ad39db3a2e8139e8822a9aed1f3 /filter-kalman/kalman.h | |
| parent | e1658b7ffaae49085ea8ef501b24b8645b071b85 (diff) | |
filter/kalman: deadzone tweaks
Diffstat (limited to 'filter-kalman/kalman.h')
| -rw-r--r-- | filter-kalman/kalman.h | 5 |
1 files changed, 2 insertions, 3 deletions
diff --git a/filter-kalman/kalman.h b/filter-kalman/kalman.h index 3c9466a5..aaed3bc1 100644 --- a/filter-kalman/kalman.h +++ b/filter-kalman/kalman.h @@ -91,8 +91,8 @@ struct settings : opts { value<slider_value> noise_pos_slider_value; static constexpr double adaptivity_window_length = 0.5; // seconds - static constexpr double deadzone_scale = 2.; - static constexpr double deadzone_exponent = 4.0; + static constexpr double deadzone_scale = 2; + static constexpr double deadzone_exponent = 2.0; static constexpr double process_sigma_pos = 0.5; static constexpr double process_simga_rot = 0.5; @@ -147,7 +147,6 @@ public: settings s; KalmanFilter kf; KalmanProcessNoiseScaler kf_adaptive_process_noise_cov; - //PoseVector minimal_state_var; DeadzoneFilter dz_filter; slider_value prev_slider_pos[2]; |