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https://github.com/ArduPilot/ardupilot
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Filter: fixed ordering of samples in notch reset
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@ -77,11 +77,11 @@ T NotchFilter<T>::apply(const T &sample)
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if (!initialised || need_reset) {
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if (!initialised || need_reset) {
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// if we have not been initialised when return the input
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// if we have not been initialised when return the input
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// sample as output and update delayed samples
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// sample as output and update delayed samples
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ntchsig2 = ntchsig1;
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ntchsig1 = ntchsig;
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ntchsig = sample;
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signal2 = signal1;
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signal1 = sample;
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signal1 = sample;
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signal2 = sample;
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ntchsig = sample;
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ntchsig1 = sample;
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ntchsig2 = sample;
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need_reset = false;
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need_reset = false;
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return sample;
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return sample;
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}
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}
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