def test_pack_data_tau_zero(self):
# Create the filter
f = LowpassFilter(0, False, 0)
# Pack into an array
data = bytearray(8)
f.pack_data(0.001, data, 0)
# Compute expected values
exp_a = tp.value_to_fix(0.0)
exp_b = tp.value_to_fix(1.0)
# Unpack and check for accuracy
(a, b) = struct.unpack_from("<2I", data)
assert a == exp_a
assert b == exp_b
def test_pack_data(self, tau, dt):
# Create the filter
f = LowpassFilter(0, False, tau)
# Pack into an array
data = bytearray(8)
f.pack_data(dt, data, 0)
# Compute expected values
exp_a = tp.value_to_fix(np.exp(-dt / tau))
exp_b = tp.value_to_fix(1.0 - np.exp(-dt / tau))
# Unpack and check for accuracy
(a, b) = struct.unpack_from("<2I", data)
assert a == exp_a
assert b == exp_b
def test_pack_data(self, tau, dt):
# Create the filter
f = LowpassFilter(0, False, tau)
# Pack into an array
data = bytearray(8)
f.pack_data(dt, data, 0)
# Compute expected values
exp_a = tp.value_to_fix(np.exp(-dt / tau))
exp_b = tp.value_to_fix(1.0 - np.exp(-dt / tau))
# Unpack and check for accuracy
(a, b) = struct.unpack_from("<2I", data)
assert a == exp_a
assert b == exp_b
