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Continuously update offset between TSS2 angle sensors (#21943)

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* Continuously update offset between TSS2 angle sensors

* add comment

* less lines

* only when initialized

* init to None

* update ref
old-commit-hash: c15a616ac44e238e6c5866bc57b5c6b524c765d6
This commit is contained in:
Willem Melching
2021-09-01 15:00:52 -07:00
committed by GitHub
parent 503fe7421a
commit 2e285bea20
3 changed files with 21 additions and 14 deletions
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common/filter_simple.py
+7 -2
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@@ -1,13 +1,18 @@
class FirstOrderFilter:
# first order filter
def __init__(self, x0, rc, dt):
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):
self.x = (1. - self.alpha) * self.x + self.alpha * x
if self.initialized:
self.x = (1. - self.alpha) * self.x + self.alpha * x
else:
self.initialized = True
self.x = x
return self.x