openpilot v0.8.8 release

common/filter_simple.py

@@ -1,9 +1,13 @@
-class FirstOrderFilter():
+class FirstOrderFilter:
   # first order filter
-  def __init__(self, x0, ts, dt):
-    self.k = (dt / ts) / (1. + dt / ts)
+  def __init__(self, x0, rc, dt):
     self.x = x0
+    self.dt = dt
+    self.update_alpha(rc)
+
+  def update_alpha(self, rc):
+    self.alpha = self.dt / (rc + self.dt)
 
   def update(self, x):
-    self.x = (1. - self.k) * self.x + self.k * x
+    self.x = (1. - self.alpha) * self.x + self.alpha * x
     return self.x