diff options
Diffstat (limited to 'ftnoir_filter_accela')
| -rw-r--r-- | ftnoir_filter_accela/ftnoir_filter_accela.cpp | 6 | ||||
| -rw-r--r-- | ftnoir_filter_accela/ftnoir_filter_accela.h | 8 |
2 files changed, 10 insertions, 4 deletions
diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.cpp b/ftnoir_filter_accela/ftnoir_filter_accela.cpp index 9e1b2415..31534ad3 100644 --- a/ftnoir_filter_accela/ftnoir_filter_accela.cpp +++ b/ftnoir_filter_accela/ftnoir_filter_accela.cpp @@ -37,6 +37,12 @@ static constexpr double trans_gains[][2] = { { -1, 0 } }; +constexpr double settings_accela::mult_rot; +constexpr double settings_accela::mult_trans; +constexpr double settings_accela::mult_rot_dz; +constexpr double settings_accela::mult_trans_dz; +constexpr double settings_accela::mult_ewma; + FTNoIR_Filter::FTNoIR_Filter() : first_run(true) { rot.setMaxInput(rot_gains[0][0]); diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.h b/ftnoir_filter_accela/ftnoir_filter_accela.h index 0116faea..d962d82f 100644 --- a/ftnoir_filter_accela/ftnoir_filter_accela.h +++ b/ftnoir_filter_accela/ftnoir_filter_accela.h @@ -11,11 +11,11 @@ using namespace options; struct settings_accela : opts { value<int> rot_threshold, trans_threshold, ewma, rot_deadzone, trans_deadzone; - static constexpr double mult_rot = 10. / 100.; - static constexpr double mult_trans = 5. / 100.; + static constexpr double mult_rot = 4. / 100.; + static constexpr double mult_trans = 4. / 100.; static constexpr double mult_rot_dz = 2. / 100.; - static constexpr double mult_trans_dz = 1. / 100.; - static constexpr double mult_ewma = 2.; + static constexpr double mult_trans_dz = 2. / 100.; + static constexpr double mult_ewma = 1.25; settings_accela() : opts("Accela"), rot_threshold(b, "rotation-threshold", 30), |