diff options
| author | Stanislaw Halik <sthalik@misaki.pl> | 2022-10-06 15:15:12 +0200 |
|---|---|---|
| committer | Stanislaw Halik <sthalik@misaki.pl> | 2022-10-10 10:31:57 +0200 |
| commit | d63bbbb164dd3285f3ea8f22a568fdcd381da612 (patch) | |
| tree | 876d4db6b8c8084ae54e36967d4a8dd9d7bda022 | |
| parent | b25624892d4e5b12a953e2936e59d2af5d654b21 (diff) | |
filter/accela: fix accidentally clamping position data
Introduced in: 7252c001
Tested by: @Pieloth
Issue: #1349
| -rw-r--r-- | filter-accela/ftnoir_filter_accela.cpp | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/filter-accela/ftnoir_filter_accela.cpp b/filter-accela/ftnoir_filter_accela.cpp index d3464f7b..940ac50c 100644 --- a/filter-accela/ftnoir_filter_accela.cpp +++ b/filter-accela/ftnoir_filter_accela.cpp @@ -154,7 +154,8 @@ void accela::filter(const double* input, double *output) { output[k] *= dt; output[k] += last_output[k]; - if (fabs(output[k]) > half_turn) output[k] -= copysign(full_turn, output[k]); + if (k >= Yaw && fabs(output[k]) > half_turn) + output[k] -= copysign(full_turn, output[k]); last_output[k] = output[k]; } |