jens/brewpi
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

- improved Kalman test

Browse Source
This commit is contained in:
jens
2020-11-27 19:43:41 +01:00
parent 63e4115db8
commit 9d609df44f
1 changed files with 4 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
components/pid/kalman.py
+4 -4
View File
@@ -104,9 +104,9 @@ if __name__ == '__main__':
params = { params = {
'dt' : dt, 'dt' : dt,
'var_P' : 0.1, 'var_P' : 1,
'var_Q' : 0.001, 'var_Q' : 0.001,
'var_R' : 0.1 'var_R' : 1
} }
k = Kalman(params) k = Kalman(params)
@@ -121,7 +121,7 @@ if __name__ == '__main__':
_seqn = range(0, 2*N) _seqn = range(0, 2*N)
for n in seqn: for n in seqn:
X = (1, 0) X = (1, 0)
Z = k.process_measurement(X, 0.01) Z = k.process_measurement(X, 0.1)
# Kalman.print("Z:", Z) # Kalman.print("Z:", Z)
Xp = k.process(Z) Xp = k.process(Z)
@@ -132,7 +132,7 @@ if __name__ == '__main__':
for n in seqn: for n in seqn:
X = k.process_truth() 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) # Kalman.print("Z:", Z)
Xp = k.process(Z) Xp = k.process(Z)