From f9745a2e4454b5e80351625782d8b171845ebe7c Mon Sep 17 00:00:00 2001
From: philsson <philsson@gmail.com>
Date: Sun, 23 Sep 2018 14:29:19 +0200
Subject: [PATCH] filter clear function

---
 src/control/ImuFusion.cpp | 4 ++--
 src/control/lpf.cpp       | 5 +++++
 src/control/lpf.h         | 2 ++
 3 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/src/control/ImuFusion.cpp b/src/control/ImuFusion.cpp
index bf72c3c..3fab8d0 100644
--- a/src/control/ImuFusion.cpp
+++ b/src/control/ImuFusion.cpp
@@ -17,8 +17,8 @@ float ImuFusion::getAngle(float dT)
 
     m_angle += dT*rot;
 
-    //float ratio = 0.99; 
-    float ratio = 0.95f;
+    float ratio = 0.99; 
+    //float ratio = 0.95f;
     //float ratio = 0.9996;
 
     float rawAngle = m_pImu->read_acc_deg(axis); // conversion from G to Deg
diff --git a/src/control/lpf.cpp b/src/control/lpf.cpp
index 2b1362a..25ce967 100644
--- a/src/control/lpf.cpp
+++ b/src/control/lpf.cpp
@@ -16,6 +16,11 @@ float incrementalLPF::filter(float latestValue)
     return m_filtered;
 }
 
+void incrementalLPF::clear()
+{
+    m_filtered = 0;
+}
+
 pt1FilterApply4::pt1FilterApply4(float freqCut)
 : m_freqCut(freqCut)
 , m_RC(1.0f / (2.0f * (float)PI * m_freqCut))
diff --git a/src/control/lpf.h b/src/control/lpf.h
index 5007a56..3d73311 100644
--- a/src/control/lpf.h
+++ b/src/control/lpf.h
@@ -11,6 +11,8 @@ public:
 
     float filter(float latestValue);
 
+    void clear();
+
 private:
 
     float m_filtered;