- fixed kalman test for different dt

components/pid/kalman.py

@@ -80,7 +80,7 @@ class Kalman:
 
 # Main
 if __name__ == '__main__':
-	dt = 1
+	dt = 1.0
 
 	params = {
 		'var_P'	: 1,
@@ -98,7 +98,7 @@ if __name__ == '__main__':
 	seqn = range(0, N)
 
 	_seqn = range(0, 2*N)
-	X = np.array([1, 0])
+	X = np.array([dt, 0])
 	for n in seqn:
 		Z = k.process_measurement(X, 0.5)
 		# Kalman.print("Z:", Z)
@@ -110,7 +110,7 @@ if __name__ == '__main__':
 		_y2 = np.append(_y2, Xp[1])
 
 	for n in seqn:
-		X[0] = X[0] + 1
+		X[0] = X[0] + dt
 		Z = k.process_measurement(X, 0.5)
 		# Kalman.print("Z:", Z)
 		Xp = k.process(Z)