1 and 2 are the same

common/filter_simple.py

@@ -17,29 +17,6 @@ class FirstOrderFilter:
     return self.x
 
 
-class JerkEstimator1:
-  def __init__(self, dt):
-    self.dt = dt
-    self.prev_x = 0.0
-    self.initialized = False
-    self.filter = FirstOrderFilter(0.0, 0.2, dt, initialized=False)
-    self._x = 0.0
-
-  @property
-  def x(self):
-    return self._x
-
-  def update(self, x):
-    x_filtered = self.filter.update(x)
-    if not self.initialized:
-      self.prev_x = x_filtered
-      self.initialized = True
-
-    self._x = (x_filtered - self.prev_x) / self.dt
-    self.prev_x = x_filtered
-    return self._x
-
-
 class JerkEstimator2:
   def __init__(self, dt):
     self.dt = dt
@@ -109,7 +86,7 @@ class JerkEstimator4:
       self.prev_x = filtered_x
       self.initialized = True
 
-    self._x = (filtered_x - self.prev_x) / .01
+    self._x = (filtered_x - self.prev_x) / self.dt
 
     self.prev_x = filtered_x
     return self._x

estimate_lat_jerk.py

@@ -1,6 +1,6 @@
 import math
 import matplotlib.pyplot as plt
-from openpilot.common.filter_simple import JerkEstimator1, JerkEstimator2, JerkEstimator3, JerkEstimator4, JerkEstimator5
+from openpilot.common.filter_simple import JerkEstimator2, JerkEstimator3, JerkEstimator4, JerkEstimator5
 from tools.lib.logreader import LogReader
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
@@ -12,11 +12,11 @@ calibrator = PoseCalibrator()
 
 sm = {}
 
-j1 = JerkEstimator1(0.01)
-j2 = JerkEstimator2(0.01)
-j3 = JerkEstimator3(0.01)
-j4 = JerkEstimator4(0.01)
-j5 = JerkEstimator5(0.01)
+j1 = JerkEstimator1(1/20)
+j2 = JerkEstimator2(1/20)
+j3 = JerkEstimator3(1/100)
+j4 = JerkEstimator4(1/20)
+j5 = JerkEstimator5(1/20)
 
 accels = []
 kf_accels = []
@@ -72,9 +72,9 @@ axs[0].legend()
 
 axs[1].plot(jerks1, label='Jerk Estimator 1')
 axs[1].plot(jerks2, label='Jerk Estimator 2')
-axs[1].plot(jerks3, label='Jerk Estimator 3')
-axs[1].plot(jerks4, label='Jerk Estimator 4')
-axs[1].plot(jerks5, label='Jerk Estimator 5')
+# axs[1].plot(jerks3, label='Jerk Estimator 3')
+# axs[1].plot(jerks4, label='Jerk Estimator 4')
+# axs[1].plot(jerks5, label='Jerk Estimator 5')
 axs[1].set_ylabel('Lateral Jerk (m/s³)')
 axs[1].legend()