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authorStanislaw Halik <sthalik@misaki.pl>2015-09-05 12:00:43 +0200
committerStanislaw Halik <sthalik@misaki.pl>2015-09-05 12:00:43 +0200
commiteb7703b4ecea5540a4c4a65faa1ff4c53fe97631 (patch)
treeed8a9f081d88def98e96cf45b6e5d093a845e0d2
parent806b5a7ceb405f94bbc4bc318af2a530c1a2a0ac (diff)
Revert "accela: try more complex deadzone algorithm"opentrack-2.3-rc18
This reverts commit e4f4edb4cdcb66c4c95edfa6c75911327690fd87.
-rw-r--r--ftnoir_filter_accela/ftnoir_filter_accela.cpp19
1 files changed, 3 insertions, 16 deletions
diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.cpp b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
index bf27e916..b9f7434f 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.cpp
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
@@ -82,31 +82,18 @@ void FTNoIR_Filter::filter(const double* input, double *output)
const double alpha = dt/(dt+RC);
const double rot_dz = s.rot_deadzone * s.mult_rot_dz;
const double trans_dz = s.trans_deadzone * s.mult_trans_dz;
-
- double rot_dist = 0, trans_dist = 0;
-
- for (int i = 3; i < 6; i++)
- {
- smoothed_input[i] = smoothed_input[i] * (1.-alpha) + input[i] * alpha;
- rot_dist += (last_output[i] - smoothed_input[i]) * (last_output[i] - smoothed_input[i]);
- }
-
- for (int i = 0; i < 3; i++)
- {
- smoothed_input[i] = smoothed_input[i] * (1.-alpha) + input[i] * alpha;
- trans_dist += (last_output[i] - smoothed_input[i]) * (last_output[i] - smoothed_input[i]);
- }
for (int i = 0; i < 6; i++)
{
Map& m = i >= 3 ? rot : trans;
+ smoothed_input[i] = smoothed_input[i] * (1.-alpha) + input[i] * alpha;
+
const double in = smoothed_input[i];
const double vec = in - last_output[i];
const double dz = i >= 3 ? rot_dz : trans_dz;
- const bool use_dz = dz*dz > (i >= 3 ? rot_dist : trans_dist);
- const double vec_ = use_dz ? 0. : std::max(0., fabs(vec) - dz);
+ const double vec_ = std::max(0., fabs(vec) - dz);
const double thres = i >= 3 ? rot_t : trans_t;
const double val = m.getValue(vec_ / thres);
const double result = last_output[i] + (vec < 0 ? -1 : 1) * dt * val;