From 9d609df44f2c1b130889423063fdf1eb21858425 Mon Sep 17 00:00:00 2001 From: jens Date: Fri, 27 Nov 2020 19:43:41 +0100 Subject: [PATCH] - improved Kalman test --- components/pid/kalman.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/components/pid/kalman.py b/components/pid/kalman.py index ac1e56b..a43c3c7 100644 --- a/components/pid/kalman.py +++ b/components/pid/kalman.py @@ -104,9 +104,9 @@ if __name__ == '__main__': params = { 'dt' : dt, - 'var_P' : 0.1, + 'var_P' : 1, 'var_Q' : 0.001, - 'var_R' : 0.1 + 'var_R' : 1 } k = Kalman(params) @@ -121,7 +121,7 @@ if __name__ == '__main__': _seqn = range(0, 2*N) for n in seqn: X = (1, 0) - Z = k.process_measurement(X, 0.01) + Z = k.process_measurement(X, 0.1) # Kalman.print("Z:", Z) Xp = k.process(Z) @@ -132,7 +132,7 @@ if __name__ == '__main__': for n in seqn: X = k.process_truth() - Z = k.process_measurement((X[0,0], 0), 0.01) + Z = k.process_measurement((X[0,0], 0), 0.1) # Kalman.print("Z:", Z) Xp = k.process(Z)