From f6142816b86b5fc7a6ed9d91a82ed54592cff709 Mon Sep 17 00:00:00 2001 From: hartytp Date: Thu, 7 Feb 2019 15:57:43 +0000 Subject: [PATCH] Revert "SUServo: remove references to non-existent a0 parameter" (#1270) This reverts commit f3aab2b89156bbc1b12f847093a87a8933293df2. Signed-off-by: TPH --- artiq/coredevice/suservo.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/artiq/coredevice/suservo.py b/artiq/coredevice/suservo.py index 7a58812c1..956950380 100644 --- a/artiq/coredevice/suservo.py +++ b/artiq/coredevice/suservo.py @@ -319,7 +319,7 @@ class Channel: The recurrence relation is (all data signed and MSB aligned): .. math:: - y_n = a_1 y_{n - 1} + b_0 (x_n + o)/2 + b_1 (x_{n - 1} + o)/2 + a_0 y_n = a_1 y_{n - 1} + b_0 (x_n + o)/2 + b_1 (x_{n - 1} + o)/2 Where: @@ -328,6 +328,7 @@ class Channel: * :math:`x_n` and :math:`x_{n-1}` are the current and previous filter inputs in :math:`[-1, 1[`. * :math:`o` is the offset + * :math:`a_0` is the normalization factor :math:`2^{11}` * :math:`a_1` is the feedback gain * :math:`b_0` and :math:`b_1` are the feedforward gains for the two delays