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BlockDerivative: initialize in first run

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Thomas Gubler
2014-07-18 00:15:16 +02:00
parent 213fe0cc20
commit dc612d75c7
2 changed files with 8 additions and 1 deletions
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7
src/modules/controllib/blocks.cpp
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@@ -293,7 +293,12 @@ int blockIntegralTrapTest()
float BlockDerivative::update(float input)
{
float output = _lowPass.update((input - getU()) / getDt());
float output = 0.0f;
if (_initialized) {
output = _lowPass.update((input - getU()) / getDt());
} else {
_initialized = true;
}
setU(input);
return output;
}