filter/kalman: deadzone adjustment and parameter tuning

2 files changed, 5 insertions, 5 deletions

diff --git a/filter-kalman/kalman.cpp b/filter-kalman/kalman.cpp
index 513ebf51..d885960d 100644
--- a/filter-kalman/kalman.cpp
+++ b/filter-kalman/kalman.cpp
@@ -199,7 +199,7 @@ void FTNoIR_Filter::reset()
     prev_slider_pos[0] = static_cast<slider_value>(s.noise_pos_slider_value);
     prev_slider_pos[1] = static_cast<slider_value>(s.noise_rot_slider_value);
 
-    minimal_state_var = PoseVector::Constant(std::numeric_limits<double>::max());
+    //minimal_state_var = PoseVector::Constant(std::numeric_limits<double>::max());
 
     dz_filter.reset();
 }
@@ -245,8 +245,9 @@ void FTNoIR_Filter::filter(const double* input_, double *output_)
         // deadzone size is zero. Thus the tracking error due to the dz-filter
         // becomes zero.
         PoseVector variance = kf.state_cov.diagonal().head(6);
-        minimal_state_var = minimal_state_var.cwiseMin(variance);
-        dz_filter.dz_size = (variance - minimal_state_var).cwiseSqrt() * s.deadzone_scale;
+        //minimal_state_var = minimal_state_var.cwiseMin(variance);
+        //dz_filter.dz_size = (variance - minimal_state_var).cwiseSqrt() * s.deadzone_scale;
+        dz_filter.dz_size = variance.cwiseSqrt() * s.deadzone_scale;
     }
     output = dz_filter.filter(output);
 
diff --git a/filter-kalman/kalman.h b/filter-kalman/kalman.h
index cb3041ea..57eb8e97 100644
--- a/filter-kalman/kalman.h
+++ b/filter-kalman/kalman.h
@@ -93,7 +93,6 @@ struct settings : opts {
     static constexpr double adaptivity_window_length = 0.5; // seconds
     static constexpr double deadzone_scale = 2.;
     static constexpr double deadzone_exponent = 4.0;
-    // these values worked best for me (MW) when taken with acompanying measured noise stddev of ca 0.1 (rot) and 0.01 (pos).
     static constexpr double process_sigma_pos = 0.5;
     static constexpr double process_simga_rot = 0.5;
 
@@ -127,7 +126,7 @@ public:
     settings s;
     KalmanFilter kf;
     KalmanProcessNoiseScaler kf_adaptive_process_noise_cov;
-    PoseVector minimal_state_var;
+    //PoseVector minimal_state_var;
     DeadzoneFilter dz_filter;
     slider_value prev_slider_pos[2];