From 1c76802348d60f5efa773206269c94322df36a90 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 16 Jul 2016 23:45:47 +0200 Subject: filter/accela: update translation gains They were too staircase-like. --- filter-accela/ftnoir_filter_accela.cpp | 26 +++++++++++++------------- 1 file changed, 13 insertions(+), 13 deletions(-) diff --git a/filter-accela/ftnoir_filter_accela.cpp b/filter-accela/ftnoir_filter_accela.cpp index 0bc03097..fe5aad86 100644 --- a/filter-accela/ftnoir_filter_accela.cpp +++ b/filter-accela/ftnoir_filter_accela.cpp @@ -27,11 +27,11 @@ static constexpr double rot_gains[][2] = { }; static constexpr double trans_gains[][2] = { - { 2, 400 }, - { 1.66, 120 }, - { 1.33, 40 }, - { 1, 10 }, - { .66, 2 }, + //{ 3, 200 }, + { 1.66, 40 }, + { 1.33, 15 }, + { 1, 5 }, + { .66, 1 }, { .33, .6 }, { 0, 0 }, { -1, 0 } @@ -49,7 +49,7 @@ FTNoIR_Filter::FTNoIR_Filter() : first_run(true) trans.setMaxInput(trans_gains[0][0]); rot.setMaxOutput(rot_gains[0][1]); trans.setMaxOutput(trans_gains[0][1]); - + for (int i = 0; rot_gains[i][0] >= 0; i++) { rot.addPoint(QPointF(rot_gains[i][0], rot_gains[i][1])); @@ -75,10 +75,10 @@ void FTNoIR_Filter::filter(const double* input, double *output) t.start(); return; } - + const double rot_t = (1+s.rot_threshold) * s.mult_rot; const double trans_t = (1+s.trans_threshold) * s.mult_trans; - + const double dt = t.elapsed() * 1e-9; t.start(); @@ -86,22 +86,22 @@ void FTNoIR_Filter::filter(const double* input, double *output) const double alpha = dt/(dt+RC); const double rot_dz = s.rot_deadzone * s.mult_rot_dz; const double trans_dz = s.trans_deadzone * s.mult_trans_dz; - + for (int i = 0; i < 6; i++) { Map& m = i >= 3 ? rot : trans; - + smoothed_input[i] = smoothed_input[i] * (1.-alpha) + input[i] * alpha; - + const double in = smoothed_input[i]; - + const double vec = in - last_output[i]; const double dz = i >= 3 ? rot_dz : trans_dz; const double vec_ = std::max(0., fabs(vec) - dz); const double thres = i >= 3 ? rot_t : trans_t; const double val = m.getValue(vec_ / thres); const double result = last_output[i] + (vec < 0 ? -1 : 1) * dt * val; - + last_output[i] = output[i] = result; } } -- cgit v1.2.3