From 3816ae376fe57c9a970a2fc931aca51d205787d1 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Sun, 17 May 2026 06:21:13 +0300
Subject: [PATCH] Bring back initializing the lpf with the first input value
 It's much better for voltage measuring and slightly better for gyro bias
 estimation.

---
 flix/lpf.h | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/flix/lpf.h b/flix/lpf.h
index 9eae80d..9ee4e0a 100644
--- a/flix/lpf.h
+++ b/flix/lpf.h
@@ -14,6 +14,10 @@ public:
 	LowPassFilter(float alpha): alpha(alpha) {};
 
 	T update(const T input) {
+		if (!init) {
+			init = true;
+			return output = input;
+		}
 		return output += alpha * (input - output);
 	}
 
@@ -22,6 +26,9 @@ public:
 	}
 
 	void reset() {
-		output = T(); // set to zero
+		init = false;
 	}
+
+private:
+	bool init = false;
 };