From 752bb18ef5cf49490622963138e9ac2ac4f12a22 Mon Sep 17 00:00:00 2001 From: jens Date: Sun, 13 Dec 2020 14:52:16 +0100 Subject: [PATCH] - refactored --- components/pid/kalman.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/components/pid/kalman.py b/components/pid/kalman.py index 5393784..a2e9d36 100644 --- a/components/pid/kalman.py +++ b/components/pid/kalman.py @@ -87,7 +87,7 @@ if __name__ == '__main__': 'dt' : dt, 'var_P' : 1, 'var_Q' : 0.0001, - 'var_R' : 1 + 'var_R' : 0.5 } k = Kalman(params) @@ -102,7 +102,7 @@ if __name__ == '__main__': _seqn = range(0, 2*N) X = np.array([1, 0]) for n in seqn: - Z = k.process_measurement(X, 0.1) + Z = k.process_measurement(X, 0.5) # Kalman.print("Z:", Z) Xp = k.process(Z) @@ -113,7 +113,7 @@ if __name__ == '__main__': for n in seqn: X[0] = X[0] + 1 - Z = k.process_measurement(X, 0.1) + Z = k.process_measurement(X, 0.5) # Kalman.print("Z:", Z) Xp = k.process(Z)