diff options
Diffstat (limited to 'src/modules/controllib')
| -rw-r--r-- | src/modules/controllib/blocks.cpp | 3 | ||||
| -rw-r--r-- | src/modules/controllib/blocks.hpp | 2 | ||||
| -rw-r--r-- | src/modules/controllib/module.mk | 2 |
3 files changed, 6 insertions, 1 deletions
diff --git a/src/modules/controllib/blocks.cpp b/src/modules/controllib/blocks.cpp index 0175acda9..f739446fa 100644 --- a/src/modules/controllib/blocks.cpp +++ b/src/modules/controllib/blocks.cpp @@ -121,6 +121,9 @@ int blockLimitSymTest() float BlockLowPass::update(float input) { + if (!isfinite(getState())) { + setState(input); + } float b = 2 * float(M_PI) * getFCut() * getDt(); float a = b / (1 + b); setState(a * input + (1 - a)*getState()); diff --git a/src/modules/controllib/blocks.hpp b/src/modules/controllib/blocks.hpp index 37d7832b3..bffc355a8 100644 --- a/src/modules/controllib/blocks.hpp +++ b/src/modules/controllib/blocks.hpp @@ -114,7 +114,7 @@ public: // methods BlockLowPass(SuperBlock *parent, const char *name) : Block(parent, name), - _state(0), + _state(0.0f/0.0f /* initialize to invalid val, force into is_finite() check on first call */), _fCut(this, "") // only one parameter, no need to name {}; virtual ~BlockLowPass() {}; diff --git a/src/modules/controllib/module.mk b/src/modules/controllib/module.mk index f0139a4b7..2860d1efc 100644 --- a/src/modules/controllib/module.mk +++ b/src/modules/controllib/module.mk @@ -39,3 +39,5 @@ SRCS = test_params.c \ block/BlockParam.cpp \ uorb/blocks.cpp \ blocks.cpp + +MAXOPTIMIZATION = -Os |