From 8ecb9b2ace573291fdc331cf29dcc98b539faa5c Mon Sep 17 00:00:00 2001 From: Jens Ahrensfeld Date: Fri, 19 Apr 2019 14:06:52 +0000 Subject: [PATCH] - Kalman: Test: introduced dt git-svn-id: http://moon:8086/svn/projects/HendiControl@252 fda53097-d464-4ada-af97-ba876c37ca34 --- Control/brewpi/kalman.py | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/Control/brewpi/kalman.py b/Control/brewpi/kalman.py index 8e1491c..b8a8b02 100644 --- a/Control/brewpi/kalman.py +++ b/Control/brewpi/kalman.py @@ -100,9 +100,10 @@ class Kalman(): # Main if __name__ == '__main__': + dt =1 params = { - 'dt' : 1, + 'dt' : dt, 'var_P' : 1, 'var_Q' : 0, 'var_R' : 1, @@ -115,12 +116,13 @@ if __name__ == '__main__': _x2 = np.empty(0) _y2 = np.empty(0) - seqn = range(0, 100) + N = int(100/dt) + seqn = range(0, N) for n in seqn: X = k.process_truth() Z = k.process_measurement((X[0,0], 0)) - Kalman.print("Z:", Z) + #Kalman.print("Z:", Z) Xp = k.process(Z) _x1 = np.append(_x1, Z[0])