diff options
| -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]; } |