Simplify first_run handling to only initialize filter states.

Make reset() set first_run=true;

2 files changed, 2 insertions, 4 deletions

diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp
index d4aa62b0..a29aa9e5 100644
--- a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp
+++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp
@@ -42,16 +42,14 @@ void FTNoIR_Filter::FilterHeadPoseData(const double *target_camera_position,
     double new_delta, new_noise, norm_noise;
     double alpha;
 
-    //On the first run, initialize to output=target and return.
+    //On the first run, initialize filter states to target intput.
     if (first_run==true) {
         for (int i=0;i<6;i++) {
-            new_camera_position[i] = target_camera_position[i];
             current_camera_position[i] = target_camera_position[i];
             delta[i] = 0.0;
             noise[i] = 0.0;
         }
         first_run=false;
-        return;
     }
 
     // Calculate the new camera position.
diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h
index 8863348c..ab01781b 100644
--- a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h
+++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h
@@ -24,7 +24,7 @@ class FTNoIR_Filter : public IFilter
 {
 public:
     FTNoIR_Filter();
-    void reset() {}
+    void reset() { first_run=true; }
     void FilterHeadPoseData(const double *target_camera_position,
                             double *new_camera_position);
     void receiveSettings();