From e484c1c5a6c7b5011d5a9784cb2e500e32514137 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Mon, 5 Feb 2018 09:35:24 +0100 Subject: filter/accela: experimental less strict deadzone --- filter-accela/ftnoir_filter_accela.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/filter-accela/ftnoir_filter_accela.cpp b/filter-accela/ftnoir_filter_accela.cpp index c22d1c3d..edb2912f 100644 --- a/filter-accela/ftnoir_filter_accela.cpp +++ b/filter-accela/ftnoir_filter_accela.cpp @@ -113,7 +113,7 @@ void accela::filter(const double* input, double *output) if (fabs(d) > rot_dz) d -= copysign(rot_dz, d); else - d = 0; + d /= 2; deltas[i] = d / rot_thres; } @@ -146,7 +146,7 @@ void accela::filter(const double* input, double *output) if (fabs(d) > pos_dz) d -= copysign(pos_dz, d); else - d = 0; + d /= 2; deltas[i] = d / pos_thres; } -- cgit v1.2.3