filter clear function

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

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))

src/control/lpf.h

@@ -11,6 +11,8 @@ public:
 
     float filter(float latestValue);
 
+    void clear();
+
 private:
 
     float m_filtered;