signalk-polar-performance-plugin 0.0.30 → 0.0.32
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- package/package.json +1 -1
- package/plugin/index.js +14 -0
package/package.json
CHANGED
package/plugin/index.js
CHANGED
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@@ -673,12 +673,26 @@ module.exports = function (app) {
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673
673
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// Doesn't exist yet, make obj for unit
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674
674
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damping[unit] = {Yn: Xn, dt: Date.now()}
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675
675
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}
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676
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+
// Edge case when hovering around -pi and +pi
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677
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+
if (Xn > halfPi && damping[unit].Yn < (0-halfPi)) {
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678
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Xn = Xn - (2*Math.PI)
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679
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} else if (Xn < (0-Math.PI) && damping[unit].Yn > Math.PI) {
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680
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Xn = Xn + (2*Math.PI)
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681
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}
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// Calculate a
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let dt = (Date.now() - damping[unit].dt)/1000
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damping[unit].dt = Date.now()
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let a = dt / (RC + dt)
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// Yn = (1-a) * Yn-1 + a * Xn
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let Yn = (1-a) * (damping[unit].Yn || Xn) + a * Xn
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688
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+
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689
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// Fix is we go outside -pi to pi
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690
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if (Yn > Math.PI) {
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691
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Yn = Yn - Math.PI
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692
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} else if (Yn < (0-Math.PI)) {
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693
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Yn = Yn + Math.PI
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694
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}
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695
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+
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// Remember Yn
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damping[unit].Yn = Yn
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// app.debug('Unit: %s dt: %d a: %d obj: %s', unit, dt, a, JSON.stringify(damping[unit]))
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