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Fixed wrapping issue. #5

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merged 6 commits into from
Jan 16, 2024
Merged

Fixed wrapping issue. #5

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71758a6
Fixed wrapping issue.
iandareid Nov 6, 2023
acd7317
Cleaned wrapping functions.
iandareid Nov 15, 2023
123afe1
Fixed the wrap syntax issue
iandareid Nov 28, 2023
583dc7f
Added back the low pass filter for the gyro.
iandareid Nov 28, 2023
a109542
Added the warning messages back into the estimator.
iandareid Nov 28, 2023
9c5aa72
Cleaned up some of the comments and calculations.
iandareid Nov 28, 2023
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22 changes: 15 additions & 7 deletions rosplane/src/estimator_example.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,11 @@ float radians(float degrees)
return M_PI*degrees/180.0;
}

double wrap(double fixed_heading, double wrapped_heading) {
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// wrapped_heading - number_of_times_to_wrap * 2pi
return wrapped_heading - floor((wrapped_heading - fixed_heading) / (2 * M_PI) + 0.5) * 2 * M_PI;
}

estimator_example::estimator_example() :
estimator_base(),
xhat_a_(Eigen::Vector2f::Zero()),
Expand Down Expand Up @@ -237,17 +242,19 @@ void estimator_example::estimate(const params_s &params, const input_s &input, o

P_p_ = (A_d_*P_p_*A_d_.transpose() + Q_p_*pow(params.Ts/N_, 2));
}

while(xhat_p_(3) > radians(180.0f)) xhat_p_(3) = xhat_p_(3) - radians(360.0f);
while(xhat_p_(3) < radians(-180.0f)) xhat_p_(3) = xhat_p_(3) + radians(360.0f);

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!

// while(xhat_p_(3) < radians(-180.0f)) xhat_p_(3) = xhat_p_(3) + radians(360.0f);
if(xhat_p_(3) > radians(180.0f) || xhat_p_(3) < radians(-180.0f))
{
RCLCPP_WARN(this->get_logger(), "Course estimate not wrapped from -pi to pi");
xhat_p_(3) = 0;
}

while(xhat_p_(6) > radians(180.0f)) xhat_p_(6) = xhat_p_(6) - radians(360.0f);
while(xhat_p_(6) < radians(-180.0f)) xhat_p_(6) = xhat_p_(6) + radians(360.0f);
xhat_p_(6) = wrap(0.0, xhat_p_(6));
// while(xhat_p_(6) > radians(180.0f)) xhat_p_(6) = xhat_p_(6) - radians(360.0f);
// while(xhat_p_(6) < radians(-180.0f)) xhat_p_(6) = xhat_p_(6) + radians(360.0f);
if(xhat_p_(6) > radians(180.0f) || xhat_p_(6) < radians(-180.0f))
{
RCLCPP_WARN(this->get_logger(), "Psi estimate not wrapped from -pi to pi");
Expand Down Expand Up @@ -290,8 +297,9 @@ void estimator_example::estimate(const params_s &params, const input_s &input, o
//wrap course measurement
float gps_course = fmodf(input.gps_course, radians(360.0f));

while (gps_course - xhat_p_(3) > radians(180.0f)) gps_course = gps_course - radians(360.0f);
while (gps_course - xhat_p_(3) < radians(-180.0f)) gps_course = gps_course + radians(360.0f);
xhat_p_(3) = wrap(xhat_p_(3), gps_course);
// while (gps_course - xhat_p_(3) > radians(180.0f)) gps_course = gps_course - radians(360.0f);
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// while (gps_course - xhat_p_(3) < radians(-180.0f)) gps_course = gps_course + radians(360.0f);
h_p_ = xhat_p_(3);

C_p_ = Eigen::VectorXf::Zero(7);
Expand Down