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Autopilot: initialize the derivative filter

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Dont let the derivative filter emit a spike on init or reset if the input
value is non-zero. This is a potential fix for #973.
This commit is contained in:
Torsten Dreyer 2012-12-31 21:27:13 +01:00
parent 6705a2ec6d
commit fcf40ec6a8
1 changed files with 7 additions and 0 deletions
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7
src/Autopilot/digitalfilter.cxx
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@ -75,6 +75,7 @@ class DerivativeFilterImplementation : public GainFilterImplementation {
public: public:
DerivativeFilterImplementation(); DerivativeFilterImplementation();
double compute( double dt, double input ); double compute( double dt, double input );
virtual void initialize( double output );
}; };
class ExponentialFilterImplementation : public GainFilterImplementation { class ExponentialFilterImplementation : public GainFilterImplementation {
@ -180,6 +181,12 @@ DerivativeFilterImplementation::DerivativeFilterImplementation() :
{ {
} }
void DerivativeFilterImplementation::initialize( double output )
{
_input_1 = output;
}
bool DerivativeFilterImplementation::configure( const std::string & nodeName, SGPropertyNode_ptr configNode ) bool DerivativeFilterImplementation::configure( const std::string & nodeName, SGPropertyNode_ptr configNode )
{ {
if( GainFilterImplementation::configure( nodeName, configNode ) ) if( GainFilterImplementation::configure( nodeName, configNode ) )