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https://github.com/dragonpilot/dragonpilot.git
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32da3d10c7
version: dragonpilot v0.8.16 release date: 2022-08-14T16:03:36 dp-dev(priv) master commit: 9a40536565e6da64122ef8c30d7e97523fde518e
19 lines
449 B
Python
19 lines
449 B
Python
class FirstOrderFilter:
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# first order filter
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def __init__(self, x0, rc, dt, initialized=True):
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self.x = x0
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self.dt = dt
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self.update_alpha(rc)
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self.initialized = initialized
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def update_alpha(self, rc):
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self.alpha = self.dt / (rc + self.dt)
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def update(self, x):
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if self.initialized:
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self.x = (1. - self.alpha) * self.x + self.alpha * x
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else:
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self.initialized = True
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self.x = x
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return self.x
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