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100f89a161
* openpilot v0.9.9 release date: 2025-06-05T19:54:08 master commit: 8aadf02b2fd91f4e1285e18c2c7feb32d93b66f5 * AGNOS 12.4 (#35558) agnos12.4 --------- Co-authored-by: Vehicle Researcher <user@comma.ai> Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
18 lines
426 B
Python
18 lines
426 B
Python
class FirstOrderFilter:
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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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