From 0bf534ff329cabaa61a0dddb8671827577407aba Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Sat, 4 Jul 2015 09:01:29 +0200
Subject: accela: try avoid staircase-like jumping for rotation

---
 ftnoir_filter_accela/ftnoir_filter_accela.cpp | 20 ++++++++++++--------
 1 file changed, 12 insertions(+), 8 deletions(-)

(limited to 'ftnoir_filter_accela')

diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.cpp b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
index c34c5ff4..4d5f4a28 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.cpp
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
@@ -13,9 +13,10 @@
 using namespace std;
 
 static constexpr double rot_gains[][2] = {
-    { 2.33, 200 },
-    { 2, 100 },
-    { 1.66, 45 },
+    { 2.66, 110 },
+    { 2.33, 80 },
+    { 2, 50 },
+    { 1.66, 30 },
     { 1.33, 15 },
     { 1, 5 },
     { .66, 1.4 },
@@ -23,12 +24,15 @@ static constexpr double rot_gains[][2] = {
     { 0, 0 },
     { -1, 0 }
 };
+
 static constexpr double trans_gains[][2] = {
-    { 1.66, 180 },
-    { 1.33, 64 },
-    { 1, 20 },
-    { .66, 5 },
-    { .33, .7 },
+    { 2.33, 400 },
+    { 2, 150 },
+    { 1.66, 60 },
+    { 1.33, 20 },
+    { 1, 4 },
+    { .66, 1.5 },
+    { .33, .2 },
     { 0, 0 },
     { -1, 0 }
 };
-- 
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