diff options
| -rw-r--r-- | klippy/clocksync.py | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/klippy/clocksync.py b/klippy/clocksync.py index 6eaf2a47..0bbde8c9 100644 --- a/klippy/clocksync.py +++ b/klippy/clocksync.py @@ -77,11 +77,12 @@ class ClockSync: self.min_rtt_time = sent_time logging.debug("new minimum rtt %.3f: hrtt=%.6f freq=%d", sent_time, half_rtt, self.clock_est[2]) - # Compare clock to predicted clock and track prediction accuracy + # Filter out samples that are extreme outliers exp_clock = ((sent_time - self.time_avg) * self.clock_est[2] + self.clock_avg) clock_diff2 = (clock - exp_clock)**2 - if clock_diff2 > 25. * self.prediction_variance: + if (clock_diff2 > 25. * self.prediction_variance + and clock_diff2 > (.000500 * self.mcu_freq)**2): if clock > exp_clock and sent_time < self.last_prediction_time + 10.: logging.debug("Ignoring clock sample %.3f:" " freq=%d diff=%d stddev=%.3f", @@ -112,7 +113,7 @@ class ClockSync: self.serial.set_clock_est(new_freq, self.time_avg + TRANSMIT_EXTRA, int(self.clock_avg - 3. * pred_stddev)) self.clock_est = (self.time_avg - self.min_half_rtt, - self.clock_avg + 3. * pred_stddev, new_freq) + self.clock_avg, new_freq) #logging.debug("regr %.3f: freq=%.3f d=%d(%.3f)", # sent_time, new_freq, clock - exp_clock, pred_stddev) # clock frequency conversions |