From 4a87519e9823f160087543e2a7a42fa2aa1996eb Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Fri, 4 May 2018 12:39:33 +0200 Subject: logic/pipeline: skip filter when centering --- logic/pipeline.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) (limited to 'logic') diff --git a/logic/pipeline.cpp b/logic/pipeline.cpp index e7d6caf6..8796d237 100644 --- a/logic/pipeline.cpp +++ b/logic/pipeline.cpp @@ -480,8 +480,10 @@ void pipeline::logic() { ev.run_events(EV::ev_before_filter, value); - value = maybe_apply_filter(value); - nan_check(value); + Pose tmp = maybe_apply_filter(value); + nan_check(tmp); + if (!center_ordered) + value = tmp; logger.write_pose(value); // "filtered" } -- cgit v1.2.3