True weighted average

2 weeks ago · 469f3e2376
parent 8832b12874
commit 469f3e2376
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/locationd/lagd.py
+++ b/selfdrive/locationd/lagd.py
@ -118,7 +118,7 @@ class BlockAverage:
    self.valid_blocks = valid_blocks

  def update(self, value: float):
-    self.values[self.block_idx] = (self.idx * self.values[self.block_idx] + (self.block_size - self.idx) * value) / self.block_size
+    self.values[self.block_idx] = (self.idx * self.values[self.block_idx] + value) / (self.idx + 1)
    self.idx = (self.idx + 1) % self.block_size
    if self.idx == 0:
      self.block_idx = (self.block_idx + 1) % self.num_blocks