Change ewma2 filter to compare filtered delta vs learned noise to

dynamically adjust filtering for each channel.

1 files changed, 4 insertions, 2 deletions

diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h
index a5f3ef24..72dc6f0a 100644
--- a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h
+++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h
@@ -53,8 +53,10 @@ private:
     double newHeadPose;   // Structure with new headpose

 

     bool first_run;

-    double alpha_smoothing;

-    double alpha[6];

+    double delta_smoothing;

+    double noise_smoothing;

+    double delta[6];

+    double noise[6];

 

     double kMinSmoothing;

     double kMaxSmoothing;