- if(tap > maxtap) {
- maxtap = tap;
- }
- }
- difftaps.push_back(0);//-newtaps[newtaps.size()-1]);
-
- // Scale the differential taps; helps scale error term to better update state
- // FIXME: should this be scaled this way or use the same gain as the taps?
- for(unsigned int i = 0; i < difftaps.size(); i++) {
- difftaps[i] /= maxtap;