From 80fa983c96c28328e33e7dcfe380919657002d33 Mon Sep 17 00:00:00 2001 From: jens Date: Sun, 10 Oct 2021 13:56:48 +0200 Subject: [PATCH] - fixed kalman test for different dt --- 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 059f522..cb90568 100644 --- a/components/pid/kalman.py +++ b/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)