fusion-zauberstab/firmware/include/dc_cancelation.h

#pragma once

template<class T>
struct DcCancelation {
    T x_n1;
    T y_n1;
    T R;

    DcCancelation(T R) : R(R) {};

    T update(T x) {
        T y = x-this->x_n1 + this->R * this->y_n1;
        this->x_n1 = x;
        this->y_n1 = y;

        return y;
    };
};