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- refactored

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jens
2020-12-13 14:52:16 +01:00
parent e26b4bfba0
commit 752bb18ef5
1 changed files with 3 additions and 3 deletions
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components/pid/kalman.py
+3 -3
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@@ -87,7 +87,7 @@ if __name__ == '__main__':
'dt' : dt, 'dt' : dt,
'var_P' : 1, 'var_P' : 1,
'var_Q' : 0.0001, 'var_Q' : 0.0001,
'var_R' : 1 'var_R' : 0.5
} }
k = Kalman(params) k = Kalman(params)
@@ -102,7 +102,7 @@ if __name__ == '__main__':
_seqn = range(0, 2*N) _seqn = range(0, 2*N)
X = np.array([1, 0]) X = np.array([1, 0])
for n in seqn: for n in seqn:
Z = k.process_measurement(X, 0.1) Z = k.process_measurement(X, 0.5)
# Kalman.print("Z:", Z) # Kalman.print("Z:", Z)
Xp = k.process(Z) Xp = k.process(Z)
@@ -113,7 +113,7 @@ if __name__ == '__main__':
for n in seqn: for n in seqn:
X[0] = X[0] + 1 X[0] = X[0] + 1
Z = k.process_measurement(X, 0.1) Z = k.process_measurement(X, 0.5)
# Kalman.print("Z:", Z) # Kalman.print("Z:", Z)
Xp = k.process(Z) Xp = k.process(Z)