mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-02-18 23:23:53 +08:00
4d7a40310f
version: dragonpilot v0.8.16 beta for EON/C2 date: 2022-08-11T09:38:43 dp-dev(priv2) master commit: c6cd233f23f60e7a6055d42850bc593c0e69082e
19 lines
449 B
Python
19 lines
449 B
Python
class FirstOrderFilter:
|
|
# first order filter
|
|
def __init__(self, x0, rc, dt, initialized=True):
|
|
self.x = x0
|
|
self.dt = dt
|
|
self.update_alpha(rc)
|
|
self.initialized = initialized
|
|
|
|
def update_alpha(self, rc):
|
|
self.alpha = self.dt / (rc + self.dt)
|
|
|
|
def update(self, x):
|
|
if self.initialized:
|
|
self.x = (1. - self.alpha) * self.x + self.alpha * x
|
|
else:
|
|
self.initialized = True
|
|
self.x = x
|
|
return self.x
|