accela: use dynamic dt

2 files changed, 7 insertions, 3 deletions

diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.cpp b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
index 85975c87..42478963 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.cpp
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
@@ -35,6 +35,7 @@ void FTNoIR_Filter::filter(const double* input, double *output)
                 last_output[i] = input[i];
         }
         first_run = false;
+        timer.start();
         return;
     }
 
@@ -47,12 +48,14 @@ void FTNoIR_Filter::filter(const double* input, double *output)
     const double a_rot_minus = s_rot_minus/100. * a_rot_plus;
     const double a_trans = s.trans_smoothing/100.;
 
-    static constexpr double fast_alpha = Hz/(Hz + fast_alpha_seconds);
+    const double Hz = timer.elapsed() * 1e-9;
+    timer.start();
+    double fast_alpha = Hz/(Hz + fast_alpha_seconds);
 
     for (int i = 0; i < 6; i++)
     {
         const double vec = input[i] - last_output[i];
-        double datum = Hz * 64;
+        double datum = Hz * 16;
 
         if (i >= 3)
         {
diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.h b/ftnoir_filter_accela/ftnoir_filter_accela.h
index eca2dfb4..ed008996 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.h
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.h
@@ -7,6 +7,7 @@
 
 #include "opentrack/options.hpp"
 using namespace options;
+#include "opentrack/timer.hpp"
 
 struct settings {
     pbundle b;
@@ -34,7 +35,6 @@ public:
     FTNoIR_Filter();
     void filter(const double* target_camera_position, double *new_camera_position);
     state_display state;
-    static constexpr double Hz = 3./1000;
 private:
     // moving average history amount
     static constexpr double fast_alpha_seconds = 0.7;
@@ -44,6 +44,7 @@ private:
     bool first_run;
     double last_output[6];
     double fast_state[3];
+    Timer timer;
 };
 
 class FilterControls: public IFilterDialog