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Diffstat (limited to 'src/modules/controllib/blocks.cpp')
| -rw-r--r-- | src/modules/controllib/blocks.cpp | 7 |
1 files changed, 6 insertions, 1 deletions
diff --git a/src/modules/controllib/blocks.cpp b/src/modules/controllib/blocks.cpp index c6c374300..04cb023a8 100644 --- a/src/modules/controllib/blocks.cpp +++ b/src/modules/controllib/blocks.cpp @@ -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; } |