Fixed wrapping issue. #5
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rosplane/src/estimator_example.cpp
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| while(xhat_p_(3) < radians(-180.0f)) xhat_p_(3) = xhat_p_(3) + radians(360.0f); | ||
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| xhat_p_(3) = wrap(0.0, xhat_p_(3)); | ||
| // while(xhat_p_(3) > radians(180.0f)) xhat_p_(3) = xhat_p_(3) - radians(360.0f); |
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I would remove these commented out lines, since we won't be needing them anymore.
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Of course, I didn't realize they weren't deleted!
bsutherland333
requested changes
Nov 15, 2023
bsutherland333
requested changes
Nov 15, 2023
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I added some cleaning to the code and reinstated the low pass filters for the gyro, as well. |
bsutherland333
approved these changes
Nov 28, 2023
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This fixes the wrapping issues we have seen in the estimator that cause it to stall indefinitely. We replaced the while loops used to calculate the wrapping to a single execution that calculates the number of wraps required and then applies them. This prevents the stalling.