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- fixed kalman test for different dt

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jens
2021-10-10 13:56:48 +02:00
parent 588f87592c
commit 80fa983c96
1 changed files with 3 additions and 3 deletions
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components/pid/kalman.py
+3 -3
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@@ -80,7 +80,7 @@ class Kalman:
# Main # Main
if __name__ == '__main__': if __name__ == '__main__':
dt = 1 dt = 1.0
params = { params = {
'var_P' : 1, 'var_P' : 1,
@@ -98,7 +98,7 @@ if __name__ == '__main__':
seqn = range(0, N) seqn = range(0, N)
_seqn = range(0, 2*N) _seqn = range(0, 2*N)
X = np.array([1, 0]) X = np.array([dt, 0])
for n in seqn: for n in seqn:
Z = k.process_measurement(X, 0.5) Z = k.process_measurement(X, 0.5)
# Kalman.print("Z:", Z) # Kalman.print("Z:", Z)
@@ -110,7 +110,7 @@ if __name__ == '__main__':
_y2 = np.append(_y2, Xp[1]) _y2 = np.append(_y2, Xp[1])
for n in seqn: for n in seqn:
X[0] = X[0] + 1 X[0] = X[0] + dt
Z = k.process_measurement(X, 0.5) Z = k.process_measurement(X, 0.5)
# Kalman.print("Z:", Z) # Kalman.print("Z:", Z)
Xp = k.process(Z) Xp = k.process(Z)