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| author | Stanislaw Halik <sthalik@misaki.pl> | 2018-02-05 09:35:24 +0100 |
|---|---|---|
| committer | Stanislaw Halik <sthalik@misaki.pl> | 2018-02-05 10:16:37 +0100 |
| commit | e484c1c5a6c7b5011d5a9784cb2e500e32514137 (patch) | |
| tree | e468861c2fb4d6d0949358f4cb106f02c1649a4a /filter-accela | |
| parent | ce77c38d48c8abea0b31681dc44587c9a5683f26 (diff) | |
filter/accela: experimental less strict deadzone
Diffstat (limited to 'filter-accela')
| -rw-r--r-- | filter-accela/ftnoir_filter_accela.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/filter-accela/ftnoir_filter_accela.cpp b/filter-accela/ftnoir_filter_accela.cpp index c22d1c3d..edb2912f 100644 --- a/filter-accela/ftnoir_filter_accela.cpp +++ b/filter-accela/ftnoir_filter_accela.cpp @@ -113,7 +113,7 @@ void accela::filter(const double* input, double *output) if (fabs(d) > rot_dz) d -= copysign(rot_dz, d); else - d = 0; + d /= 2; deltas[i] = d / rot_thres; } @@ -146,7 +146,7 @@ void accela::filter(const double* input, double *output) if (fabs(d) > pos_dz) d -= copysign(pos_dz, d); else - d = 0; + d /= 2; deltas[i] = d / pos_thres; } |