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AlphaFilter: prevent setParameters division by zero

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This commit is contained in:
Matthias Grob
2020-06-09 22:04:02 +02:00
committed by Daniel Agar
parent b7d54b5477
commit 38cbd1a182
1 changed files with 7 additions and 1 deletions
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EKF/AlphaFilter.hpp
+7 -1
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@@ -42,6 +42,8 @@
#pragma once #pragma once
#include "../ecl.h"
template <typename T> template <typename T>
class AlphaFilter { class AlphaFilter {
public: public:
@@ -65,7 +67,11 @@ public:
* *
* @param alpha [0,1] filter weight for the previous state. High value - long time constant. * @param alpha [0,1] filter weight for the previous state. High value - long time constant.
*/ */
void setAlpha(float alpha) { _alpha = alpha; } void setAlpha(float alpha) {
if (ISFINITE(alpha)) {
_alpha = alpha;
}
}
/** /**
* Set filter state to an initial value * Set filter state to an initial value