FilteredDerivative: set initialised to false if sample interval is in…

…valid Signed-off-by: RomanBapst <[email protected]>
PX4 · May 31, 2024 · 5f4c7e0 · 5f4c7e0
1 parent 66199c9
commit 5f4c7e0
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/src/lib/mathlib/math/filter/FilteredDerivative.hpp b/src/lib/mathlib/math/filter/FilteredDerivative.hpp
@@ -89,6 +89,9 @@ class FilteredDerivative
 		if (_initialized) {
 			if (_sample_interval > FLT_EPSILON) {
 				_alpha_filter.update((sample - _previous_sample) / _sample_interval);
+
+			} else {
+				_initialized = false;
 			}
 
 		} else {