1f7233cb98
version: sunnypilot v0.10.1 (staging-tici) date: 2025-10-13T01:35:37 master commit: 737a6c4236e843034680c951005b38d15815363f
18 lines
426 B
Python
18 lines
426 B
Python
class FirstOrderFilter:
|
|
def __init__(self, x0, rc, dt, initialized=True):
|
|
self.x = x0
|
|
self.dt = dt
|
|
self.update_alpha(rc)
|
|
self.initialized = initialized
|
|
|
|
def update_alpha(self, rc):
|
|
self.alpha = self.dt / (rc + self.dt)
|
|
|
|
def update(self, x):
|
|
if self.initialized:
|
|
self.x = (1. - self.alpha) * self.x + self.alpha * x
|
|
else:
|
|
self.initialized = True
|
|
self.x = x
|
|
return self.x
|