2 files changed, 17 insertions, 14 deletions
diff --git a/filter-kalman/kalman.cpp b/filter-kalman/kalman.cpp
index f88d7f90..1960e0f6 100644
--- a/filter-kalman/kalman.cpp
+++ b/filter-kalman/kalman.cpp
@@ -192,7 +192,6 @@ void kalman::reset()
     for (int i = 0; i < 6; i++) {
         last_input[i] = 0;
     }
-    first_run = true;
     dt_since_last_input = 0;
 
     prev_slider_pos[0] = s.noise_pos_slider_value;
@@ -311,7 +310,7 @@ double settings::map_slider_value(const slider_value& v_)
                    |
                    left_side_log10
         */
-    const int k = v * num_divisions; // in which division are we?!
+    const int k = int(v * num_divisions); // in which division are we?!
     const double f = v * num_divisions - k; // where in the division are we?!
     const double ff = f * 9. + 1.;
     const double multiplier = int(ff * 10.) / 10.;
diff --git a/filter-kalman/kalman.h b/filter-kalman/kalman.h
index 30f9e90f..2d8db86e 100644
--- a/filter-kalman/kalman.h
+++ b/filter-kalman/kalman.h
@@ -26,8 +26,8 @@ using namespace options;
 #include <QString>
 #include <QWidget>
 
-static constexpr inline int NUM_STATE_DOF = 12;
-static constexpr inline int NUM_MEASUREMENT_DOF = 6;
+static constexpr int NUM_STATE_DOF = 12;
+static constexpr int NUM_MEASUREMENT_DOF = 6;
 // These vectors are compile time fixed size, stack allocated
 using StateToMeasureMatrix = Eigen::Matrix<double, NUM_MEASUREMENT_DOF, NUM_STATE_DOF>;
 using StateMatrix = Eigen::Matrix<double, NUM_STATE_DOF, NUM_STATE_DOF>;
@@ -86,11 +86,11 @@ struct settings : opts {
     value<slider_value> noise_rot_slider_value { b, "noise-rotation-slider", { .5, 0, 1 } };
     value<slider_value> noise_pos_slider_value { b, "noise-position-slider", { .5, 0, 1 } };
 
-    static constexpr inline double adaptivity_window_length = 0.25; // seconds
-    static constexpr inline double deadzone_scale = 8;
-    static constexpr inline double deadzone_exponent = 2.0;
-    static constexpr inline double process_sigma_pos = 0.5;
-    static constexpr inline double process_sigma_rot = 0.5;
+    static constexpr double adaptivity_window_length = 0.25; // seconds
+    static constexpr double deadzone_scale = 8;
+    static constexpr double deadzone_exponent = 2.0;
+    static constexpr double process_sigma_pos = 0.5;
+    static constexpr double process_sigma_rot = 0.5;
 
     static double map_slider_value(const slider_value &v);
 
@@ -109,15 +109,19 @@ public:
     void center() override { reset(); }
     module_status initialize() override { return status_ok(); }
 
-    PoseVector last_input;
-    Timer timer;
-    bool first_run;
     double dt_since_last_input;
-    settings s;
+    PoseVector last_input;
     KalmanFilter kf;
     KalmanProcessNoiseScaler kf_adaptive_process_noise_cov;
     DeadzoneFilter dz_filter;
-    slider_value prev_slider_pos[2];
+    settings s;
+    slider_value prev_slider_pos[2] {
+        *s.noise_pos_slider_value,
+        *s.noise_rot_slider_value,
+    };
+    Timer timer;
+
+    bool first_run = true;
 };
 
 class kalmanDll : public Metadata