From b43a75367088883daddc9db90ba7adf414df1508 Mon Sep 17 00:00:00 2001
From: Danylo Tsyban <d.tsyban@airlogix.io>
Date: Wed, 15 Apr 2026 16:38:57 +0300
Subject: [PATCH] fix(autotune): flatten u/y arrays in apply_filters to fix
 ValueError

u and y were passed as 2D column vectors (shape (n,1)) from autotune.py,
causing "setting an array element with a sequence" when initializing the
1D filter output arrays. Added np.ravel() at the start of apply_filters
to normalize inputs to 1D.
---
 autotune/system_identification.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/autotune/system_identification.py b/autotune/system_identification.py
index 781a0bf..8f1f646 100644
--- a/autotune/system_identification.py
+++ b/autotune/system_identification.py
@@ -45,6 +45,8 @@
 
 
 def apply_filters(u, y, f_hp, f_lp, dt):
+    u = np.asarray(u).ravel()
+    y = np.asarray(y).ravel()
     n_steps = len(u)
 
     if f_hp > 0.0: