From a15ac3e775c3964aac3446561517e7ea2bb273da Mon Sep 17 00:00:00 2001 From: Lucas Beyer Date: Tue, 27 Feb 2018 21:03:00 +0100 Subject: [PATCH] Fix a bug where 2nd order GH ignores k --- filterpy/gh/gh_filter.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/filterpy/gh/gh_filter.py b/filterpy/gh/gh_filter.py index 5561c944..a526e9a3 100644 --- a/filterpy/gh/gh_filter.py +++ b/filterpy/gh/gh_filter.py @@ -147,7 +147,7 @@ def update(self, z, g=None, h=None, k=None): self.x[0] = x + dxdt + 0.5*ddx*T2 + g*self.residual self.x[1] = dx + ddx*self.dt + h*self.residual / self.dt - self.x[2] = ddx + 2*self.k*self.residual / (self.dt**2) + self.x[2] = ddx + 2*k*self.residual / (self.dt**2) class GHFilter(object):