From 7c9517ce5b7b2f597129f4d82e345b0e487d7526 Mon Sep 17 00:00:00 2001 From: Austin Shalit Date: Mon, 28 May 2018 00:52:59 -0400 Subject: [PATCH] Fix gain encapsulation in LinearDigitalFilter (#1105) --- .../edu/wpi/first/wpilibj/filters/LinearDigitalFilter.java | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/filters/LinearDigitalFilter.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/filters/LinearDigitalFilter.java index b473a245fd..7bc0377276 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/filters/LinearDigitalFilter.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/filters/LinearDigitalFilter.java @@ -7,6 +7,8 @@ package edu.wpi.first.wpilibj.filters; +import java.util.Arrays; + import edu.wpi.first.wpilibj.CircularBuffer; import edu.wpi.first.wpilibj.PIDSource; @@ -65,8 +67,8 @@ public class LinearDigitalFilter extends Filter { super(source); m_inputs = new CircularBuffer(ffGains.length); m_outputs = new CircularBuffer(fbGains.length); - m_inputGains = ffGains; - m_outputGains = fbGains; + m_inputGains = Arrays.copyOf(ffGains, ffGains.length); + m_outputGains = Arrays.copyOf(fbGains, fbGains.length); } /**