use moving average in accela over N seconds

Also add showing alphas in UI for configuration's sake.

Hopefully update wiki soon enough.

5 files changed, 428 insertions, 362 deletions

diff --git a/facetracknoir/facetracknoir.ui b/facetracknoir/facetracknoir.ui
index 36fd1e30..c114744b 100644
--- a/facetracknoir/facetracknoir.ui
+++ b/facetracknoir/facetracknoir.ui
@@ -7,8 +7,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>640</width>
-    <height>710</height>
+    <width>1000</width>
+    <height>1000</height>
    </rect>
   </property>
   <property name="windowIcon">
diff --git a/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui b/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui
index c544263d..3c7f52ab 100644
--- a/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui
+++ b/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui
@@ -9,28 +9,10 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>261</width>
-    <height>330</height>
+    <width>277</width>
+    <height>447</height>
    </rect>
   </property>
-  <property name="sizePolicy">
-   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-    <horstretch>0</horstretch>
-    <verstretch>0</verstretch>
-   </sizepolicy>
-  </property>
-  <property name="minimumSize">
-   <size>
-    <width>0</width>
-    <height>0</height>
-   </size>
-  </property>
-  <property name="maximumSize">
-   <size>
-    <width>6667</width>
-    <height>6666</height>
-   </size>
-  </property>
   <property name="windowTitle">
    <string>Accela filter settings</string>
   </property>
@@ -38,186 +20,345 @@
    <iconset resource="../ftnoir_filter_ewma2/ewma-filter.qrc">
     <normaloff>:/images/filter-16.png</normaloff>:/images/filter-16.png</iconset>
   </property>
-  <property name="layoutDirection">
-   <enum>Qt::LeftToRight</enum>
-  </property>
-  <property name="autoFillBackground">
-   <bool>false</bool>
-  </property>
-  <property name="styleSheet">
-   <string notr="true"/>
-  </property>
-  <layout class="QGridLayout" name="gridLayout">
-   <property name="bottomMargin">
-    <number>5</number>
-   </property>
-   <property name="horizontalSpacing">
-    <number>7</number>
-   </property>
-   <item row="2" column="0">
-    <widget class="QLabel" name="label_3">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="text">
-      <string>Translation</string>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="1">
-    <widget class="QDoubleSpinBox" name="rotation_alpha">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-     </property>
-     <property name="correctionMode">
-      <enum>QAbstractSpinBox::CorrectToPreviousValue</enum>
-     </property>
-     <property name="decimals">
-      <number>4</number>
-     </property>
-     <property name="minimum">
-      <double>0.100000000000000</double>
-     </property>
-     <property name="maximum">
-      <double>65535.000000000000000</double>
-     </property>
-     <property name="value">
-      <double>1.000000000000000</double>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="0">
-    <widget class="QLabel" name="label_2">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="text">
-      <string>Rotation</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
-     </property>
-    </widget>
-   </item>
-   <item row="7" column="0">
-    <widget class="QLabel" name="label_10">
-     <property name="text">
-      <string>Exponent</string>
-     </property>
-    </widget>
-   </item>
-   <item row="4" column="0">
-    <widget class="QLabel" name="label_12">
-     <property name="text">
-      <string>Order #3</string>
-     </property>
-    </widget>
-   </item>
-   <item row="2" column="1">
-    <widget class="QDoubleSpinBox" name="translation_alpha">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-     </property>
-     <property name="decimals">
-      <number>4</number>
-     </property>
-     <property name="minimum">
-      <double>0.100000000000000</double>
-     </property>
-     <property name="maximum">
-      <double>65535.000000000000000</double>
-     </property>
-     <property name="value">
-      <double>1.000000000000000</double>
-     </property>
-    </widget>
-   </item>
-   <item row="3" column="0">
-    <widget class="QLabel" name="label_11">
-     <property name="text">
-      <string>Order #2</string>
-     </property>
-    </widget>
-   </item>
-   <item row="5" column="1">
-    <widget class="QDoubleSpinBox" name="rot_deadzone">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-     </property>
-     <property name="decimals">
-      <number>3</number>
-     </property>
-     <property name="minimum">
-      <double>0.000000000000000</double>
-     </property>
-     <property name="maximum">
-      <double>100.000000000000000</double>
-     </property>
-     <property name="singleStep">
-      <double>0.050000000000000</double>
-     </property>
-     <property name="value">
-      <double>0.000000000000000</double>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <widget class="QFrame" name="frame">
+     <property name="frameShape">
+      <enum>QFrame::NoFrame</enum>
      </property>
+     <property name="frameShadow">
+      <enum>QFrame::Raised</enum>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_3">
+      <item row="0" column="0">
+       <widget class="QLabel" name="label_2">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>Rotation</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QDoubleSpinBox" name="rotation_alpha">
+        <property name="alignment">
+         <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+        </property>
+        <property name="correctionMode">
+         <enum>QAbstractSpinBox::CorrectToPreviousValue</enum>
+        </property>
+        <property name="decimals">
+         <number>4</number>
+        </property>
+        <property name="minimum">
+         <double>0.100000000000000</double>
+        </property>
+        <property name="maximum">
+         <double>65535.000000000000000</double>
+        </property>
+        <property name="value">
+         <double>1.000000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QLabel" name="label_3">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>Translation</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QDoubleSpinBox" name="translation_alpha">
+        <property name="alignment">
+         <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+        </property>
+        <property name="decimals">
+         <number>4</number>
+        </property>
+        <property name="minimum">
+         <double>0.100000000000000</double>
+        </property>
+        <property name="maximum">
+         <double>65535.000000000000000</double>
+        </property>
+        <property name="value">
+         <double>1.000000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QLabel" name="label_11">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>Fast alpha</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="QSlider" name="ui_fast_alpha">
+        <property name="maximum">
+         <number>100</number>
+        </property>
+        <property name="pageStep">
+         <number>8</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="0">
+       <widget class="QLabel" name="lblSensYaw_6">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="styleSheet">
+         <string notr="true">color:#0;
+background:none;</string>
+        </property>
+        <property name="text">
+         <string>Rotation deadband</string>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="1">
+       <widget class="QDoubleSpinBox" name="rot_deadzone">
+        <property name="alignment">
+         <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+        </property>
+        <property name="decimals">
+         <number>3</number>
+        </property>
+        <property name="minimum">
+         <double>0.000000000000000</double>
+        </property>
+        <property name="maximum">
+         <double>100.000000000000000</double>
+        </property>
+        <property name="singleStep">
+         <double>0.050000000000000</double>
+        </property>
+        <property name="value">
+         <double>0.000000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="4" column="0">
+       <widget class="QLabel" name="label">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>Translation deadband</string>
+        </property>
+       </widget>
+      </item>
+      <item row="4" column="1">
+       <widget class="QDoubleSpinBox" name="trans_deadzone">
+        <property name="alignment">
+         <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+        </property>
+        <property name="decimals">
+         <number>3</number>
+        </property>
+        <property name="minimum">
+         <double>0.000000000000000</double>
+        </property>
+        <property name="maximum">
+         <double>100.000000000000000</double>
+        </property>
+        <property name="singleStep">
+         <double>0.050000000000000</double>
+        </property>
+        <property name="value">
+         <double>0.000000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="5" column="0">
+       <widget class="QLabel" name="label_10">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>Exponent</string>
+        </property>
+       </widget>
+      </item>
+      <item row="5" column="1">
+       <widget class="QDoubleSpinBox" name="expt">
+        <property name="decimals">
+         <number>3</number>
+        </property>
+        <property name="minimum">
+         <double>0.050000000000000</double>
+        </property>
+        <property name="maximum">
+         <double>100.000000000000000</double>
+        </property>
+        <property name="singleStep">
+         <double>0.050000000000000</double>
+        </property>
+       </widget>
+      </item>
+     </layout>
     </widget>
    </item>
-   <item row="5" column="0">
-    <widget class="QLabel" name="lblSensYaw_6">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>25</width>
-       <height>0</height>
-      </size>
-     </property>
-     <property name="maximumSize">
-      <size>
-       <width>150</width>
-       <height>16777215</height>
-      </size>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">color:#0;
-background:none;</string>
-     </property>
-     <property name="text">
-      <string>Rotation deadband</string>
-     </property>
+   <item>
+    <widget class="QGroupBox" name="groupBox">
+     <property name="title">
+      <string>Debug information</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_2">
+      <item row="0" column="0">
+       <widget class="QLabel" name="label_7">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>Yaw</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QLabel" name="label_6">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>Pitch</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QLabel" name="label_5">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>Roll</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QDoubleSpinBox" name="debug_y">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="readOnly">
+         <bool>true</bool>
+        </property>
+        <property name="buttonSymbols">
+         <enum>QAbstractSpinBox::PlusMinus</enum>
+        </property>
+        <property name="decimals">
+         <number>8</number>
+        </property>
+        <property name="maximum">
+         <double>99.000000000000000</double>
+        </property>
+        <property name="singleStep">
+         <double>0.000000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QDoubleSpinBox" name="debug_p">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="readOnly">
+         <bool>true</bool>
+        </property>
+        <property name="buttonSymbols">
+         <enum>QAbstractSpinBox::PlusMinus</enum>
+        </property>
+        <property name="decimals">
+         <number>8</number>
+        </property>
+        <property name="maximum">
+         <double>99.000000000000000</double>
+        </property>
+        <property name="singleStep">
+         <double>0.000000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="QDoubleSpinBox" name="debug_r">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="readOnly">
+         <bool>true</bool>
+        </property>
+        <property name="buttonSymbols">
+         <enum>QAbstractSpinBox::PlusMinus</enum>
+        </property>
+        <property name="decimals">
+         <number>8</number>
+        </property>
+        <property name="maximum">
+         <double>99.000000000000000</double>
+        </property>
+        <property name="singleStep">
+         <double>0.000000000000000</double>
+        </property>
+       </widget>
+      </item>
+     </layout>
     </widget>
    </item>
-   <item row="8" column="0" colspan="2">
+   <item>
     <widget class="QLabel" name="label_9">
      <property name="sizePolicy">
-      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+      <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
        <horstretch>0</horstretch>
        <verstretch>0</verstretch>
       </sizepolicy>
@@ -231,7 +372,7 @@ background:none;</string>
       <enum>QFrame::NoFrame</enum>
      </property>
      <property name="text">
-      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;justify&quot;&gt;Accela by &lt;a href=&quot;https://github.com/sthalik&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0057ae;&quot;&gt;Stanisław Halik&lt;/span&gt;&lt;/a&gt;&lt;br/&gt;Help from &lt;a href=&quot;https://github.com/dbaarda&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0057ae;&quot;&gt;Donovan Baarda&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;p align=&quot;justify&quot;&gt;2012-2013&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;justify&quot;&gt;&lt;br/&gt;&lt;/p&gt;&lt;p align=&quot;justify&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;Accela by &lt;/span&gt;&lt;a href=&quot;https://github.com/sthalik&quot;&gt;&lt;span style=&quot; font-size:10pt; text-decoration: underline; color:#0057ae;&quot;&gt;Stanisław Halik&lt;/span&gt;&lt;/a&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;&lt;br/&gt;Thanks to &lt;/span&gt;&lt;a href=&quot;https://github.com/dbaarda&quot;&gt;&lt;span style=&quot; font-size:10pt; text-decoration: underline; color:#0057ae;&quot;&gt;Donovan Baarda&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;p align=&quot;right&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;2012-2014&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
      </property>
      <property name="textFormat">
       <enum>Qt::RichText</enum>
@@ -259,29 +400,7 @@ background:none;</string>
      </property>
     </widget>
    </item>
-   <item row="7" column="1">
-    <widget class="QDoubleSpinBox" name="expt">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="decimals">
-      <number>3</number>
-     </property>
-     <property name="minimum">
-      <double>0.050000000000000</double>
-     </property>
-     <property name="maximum">
-      <double>100.000000000000000</double>
-     </property>
-     <property name="singleStep">
-      <double>0.050000000000000</double>
-     </property>
-    </widget>
-   </item>
-   <item row="9" column="0" colspan="2">
+   <item>
     <widget class="QDialogButtonBox" name="buttonBox">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
@@ -294,107 +413,9 @@ background:none;</string>
      </property>
     </widget>
    </item>
-   <item row="4" column="1">
-    <widget class="QDoubleSpinBox" name="order_3rd">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-     </property>
-     <property name="correctionMode">
-      <enum>QAbstractSpinBox::CorrectToPreviousValue</enum>
-     </property>
-     <property name="decimals">
-      <number>4</number>
-     </property>
-     <property name="minimum">
-      <double>0.100000000000000</double>
-     </property>
-     <property name="maximum">
-      <double>65535.000000000000000</double>
-     </property>
-     <property name="value">
-      <double>1.000000000000000</double>
-     </property>
-    </widget>
-   </item>
-   <item row="3" column="1">
-    <widget class="QDoubleSpinBox" name="order_2nd">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-     </property>
-     <property name="correctionMode">
-      <enum>QAbstractSpinBox::CorrectToPreviousValue</enum>
-     </property>
-     <property name="decimals">
-      <number>4</number>
-     </property>
-     <property name="minimum">
-      <double>0.100000000000000</double>
-     </property>
-     <property name="maximum">
-      <double>65535.000000000000000</double>
-     </property>
-     <property name="value">
-      <double>1.000000000000000</double>
-     </property>
-    </widget>
-   </item>
-   <item row="6" column="0">
-    <widget class="QLabel" name="label">
-     <property name="text">
-      <string>Translation deadband</string>
-     </property>
-    </widget>
-   </item>
-   <item row="6" column="1">
-    <widget class="QDoubleSpinBox" name="trans_deadzone">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-     </property>
-     <property name="decimals">
-      <number>3</number>
-     </property>
-     <property name="minimum">
-      <double>0.000000000000000</double>
-     </property>
-     <property name="maximum">
-      <double>100.000000000000000</double>
-     </property>
-     <property name="singleStep">
-      <double>0.050000000000000</double>
-     </property>
-     <property name="value">
-      <double>0.000000000000000</double>
-     </property>
-    </widget>
-   </item>
   </layout>
  </widget>
  <tabstops>
-  <tabstop>rotation_alpha</tabstop>
-  <tabstop>translation_alpha</tabstop>
-  <tabstop>order_2nd</tabstop>
-  <tabstop>order_3rd</tabstop>
-  <tabstop>rot_deadzone</tabstop>
-  <tabstop>trans_deadzone</tabstop>
-  <tabstop>expt</tabstop>
   <tabstop>buttonBox</tabstop>
  </tabstops>
  <resources>
diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.cpp b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
index 639e2e45..22feafae 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.cpp
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
@@ -12,7 +12,7 @@
 #include "opentrack/plugin-api.hpp"
 using namespace std;
 
-FTNoIR_Filter::FTNoIR_Filter() : first_run(true)
+FTNoIR_Filter::FTNoIR_Filter() : first_run(true), fast_state { 0,0,0, 0,0,0 }
 {
 }
 
@@ -20,45 +20,64 @@ static inline double parabola(const double a, const double x, const double dz, c
 {
     const double sign = x > 0 ? 1 : -1;
     const double a1 = 1./a;
-    return a1 * pow(std::max<double>(fabs(x) - dz, 0), expt) * sign;
+    return a1 * pow(std::max(0., fabs(x) - dz), expt) * sign;
 }
 
-void FTNoIR_Filter::filter(const double* target_camera_position,
-                                       double *new_camera_position)
+void FTNoIR_Filter::filter(const double* input, double *output)
 {
     if (first_run)
     {
         for (int i = 0; i < 6; i++)
         {
-            new_camera_position[i] = target_camera_position[i];
+            fast_state[i] = 0;
+            output[i] = input[i];
             for (int j = 0; j < 3; j++)
-                last_output[j][i] = target_camera_position[i];
+                last_output[i] = input[i];
         }
-
         first_run = false;
-                return;
+        return;
     }
 
+    const double fast_c = s.fast_alpha / 100.;
+    const double rot_dz = s.rot_deadzone;
+    const double trans_dz = s.trans_deadzone;
+    const double rot_a = s.rotation_alpha;
+    const double trans_a = s.translation_alpha;
+    const double expt = s.expt;
+
+    static constexpr double fast_alpha = Hz/(Hz + fast_alpha_seconds);
+
     for (int i=0;i<6;i++)
     {
-        const double vec = target_camera_position[i] - last_output[0][i];
-        const double vec2 = target_camera_position[i] - last_output[1][i];
-        const double vec3 = target_camera_position[i] - last_output[2][i];
-                const int sign = vec < 0 ? -1 : 1;
-        const double a = i >= 3 ? s.rotation_alpha : s.translation_alpha;
-        const double a2 = a * s.second_order_alpha;
-        const double a3 = a * s.third_order_alpha;
-        const double deadzone = i >= 3 ? s.rot_deadzone : s.trans_deadzone;
-        const double velocity =
-                parabola(a, vec, deadzone, s.expt) +
-                parabola(a2, vec2, deadzone, s.expt) +
-                parabola(a3, vec3, deadzone, s.expt);
-        const double result = last_output[0][i] + velocity;
-        const bool done = sign > 0 ? result >= target_camera_position[i] : result <= target_camera_position[i];
-        last_output[2][i] = last_output[1][i];
-        last_output[1][i] = last_output[0][i];
-        last_output[0][i] = new_camera_position[i] = done ? target_camera_position[i] : result;
+        const double vec = input[i] - last_output[i];
+        const double a = i >= 3 ? rot_a : trans_a;
+        const double deadzone = i >= 3 ? rot_dz : trans_dz;
+
+        double datum;
+
+        if (i >= 3)
+        {
+            const double cur_fast = std::abs(vec) * fast_alpha + fast_state[i]*(1. - fast_alpha);
+            fast_state[i] = cur_fast;
+            const double how_fast = std::max(0., fast_c * (cur_fast - max_slow_delta));
+            datum = parabola(a, vec * (1.-damping + how_fast), deadzone, s.expt);
+        }
+        else
+            datum = parabola(a, vec, deadzone, expt);
+
+        const double result = last_output[i] + datum;
+        const bool negp = vec < 0.;
+        const bool done = negp ? result <= input[i] : result >= input[i];
+
+        last_output[i] = last_output[i];
+        last_output[i] = last_output[i];
+        const double ret = done ? input[i] : result;
+        last_output[i] = output[i] = ret;
     }
+
+    state.y = output[Yaw] - input[Yaw];
+    state.p = output[Pitch] - input[Pitch];
+    state.r = output[Roll] - input[Roll];
 }
 
 extern "C" OPENTRACK_EXPORT IFilter* GetConstructor()
diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.h b/ftnoir_filter_accela/ftnoir_filter_accela.h
index 5e8ed428..da5155ca 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.h
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.h
@@ -1,11 +1,13 @@
 #pragma once
 #include "ui_ftnoir_accela_filtercontrols.h"
 #include "opentrack/plugin-api.hpp"
+#include <atomic>
 #include <QMutex>
+#include <QTimer>
 
 #define ACCELA_SMOOTHING_ROTATION 60.0
 #define ACCELA_SMOOTHING_TRANSLATION 40.0
-#define ACCELA_SECOND_ORDER_ALPHA 100.0
+#define ACCELA_fast_ALPHA 100.0
 #define ACCELA_THIRD_ORDER_ALPHA 180.0
 
 #include "opentrack/options.hpp"
@@ -15,38 +17,46 @@ struct settings {
     pbundle b;
     value<double> rotation_alpha,
                   translation_alpha,
-                  second_order_alpha,
-                  third_order_alpha,
                   rot_deadzone,
                   trans_deadzone,
                   expt;
+    value<int> fast_alpha;
     settings() :
         b(bundle("Accela")),
         rotation_alpha(b, "rotation-alpha", ACCELA_SMOOTHING_ROTATION),
         translation_alpha(b, "translation-alpha", ACCELA_SMOOTHING_TRANSLATION),
-        second_order_alpha(b, "second-order-alpha", ACCELA_SECOND_ORDER_ALPHA),
-        third_order_alpha(b, "third-order-alpha", ACCELA_THIRD_ORDER_ALPHA),
         rot_deadzone(b, "rotation-deadband", 0),
         trans_deadzone(b, "translation-deadband", 0),
-        expt(b, "exponent", 2)
+        expt(b, "exponent", 2),
+        fast_alpha(b, "fast-alpha", 0)
     {}
 };
 
+struct state_display
+{
+    double y, p, r;
+    state_display() : y(0), p(0), r(0) {};
+};
+
 class FTNoIR_Filter : public IFilter
 {
 public:
     FTNoIR_Filter();
     void filter(const double* target_camera_position, double *new_camera_position);
-    void reset() {
-        first_run = true;
-    }
-    void receiveSettings() {
-        s.b->reload();
-    }
+    state_display state;
 private:
+    // hardcoded distance between filter() calls
+    static constexpr double Hz = 3./1000;
+    // moving average history
+    static constexpr double fast_alpha_seconds = 10;
+    // max degrees considered "slow" after alpha
+    static constexpr double max_slow_delta = 0.34;
+    // if set to zero, never decreases response
+    static constexpr double damping = 0.3;
     settings s;
     bool first_run;
-    double last_output[3][6];
+    double last_output[6];
+    double fast_state[6];
 };
 
 class FilterControls: public IFilterDialog
@@ -62,9 +72,11 @@ private:
     void save();
     FTNoIR_Filter* accela_filter;
     settings s;
+    QTimer t;
 private slots:
     void doOK();
     void doCancel();
+    void timer_fired();
 };
 
 class FTNoIR_FilterDll : public Metadata
diff --git a/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp b/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp
index 393a0439..0f21cbcb 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp
+++ b/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp
@@ -14,26 +14,42 @@ FilterControls::FilterControls() :
 
     tie_setting(s.rotation_alpha, ui.rotation_alpha);
     tie_setting(s.translation_alpha, ui.translation_alpha);
-    tie_setting(s.second_order_alpha, ui.order_2nd);
-    tie_setting(s.third_order_alpha, ui.order_3rd);
+    tie_setting(s.fast_alpha, ui.ui_fast_alpha);
     tie_setting(s.rot_deadzone, ui.rot_deadzone);
     tie_setting(s.trans_deadzone, ui.trans_deadzone);
     tie_setting(s.expt, ui.expt);
+
+    connect(&t, SIGNAL(timeout()), this, SLOT(timer_fired()));
+
+    t.setInterval(250);
+}
+
+void FilterControls::timer_fired()
+{
+    if (accela_filter)
+    {
+        state_display st = accela_filter->state;
+        ui.debug_y->setValue(st.y);
+        ui.debug_p->setValue(st.p);
+        ui.debug_r->setValue(st.r);
+    }
 }
 
 void FilterControls::register_filter(IFilter* filter)
 {
     accela_filter = static_cast<FTNoIR_Filter*>(filter);
+    t.start();
 }
 
 void FilterControls::unregister_filter()
 {
-    accela_filter = NULL;
+    t.stop();
+    accela_filter = nullptr;
 }
 
 void FilterControls::doOK() {
-	save();
-	this->close();
+    save();
+    this->close();
 }
 
 void FilterControls::doCancel() {
@@ -48,8 +64,6 @@ void FilterControls::discard()
 
 void FilterControls::save() {
     s.b->save();
-    if (accela_filter)
-        accela_filter->receiveSettings();
 }
 
 extern "C" OPENTRACK_EXPORT IFilterDialog* GetDialog()