Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Fix wrong #176

Merged
merged 2 commits into from
Aug 3, 2024
Merged

Fix wrong #176

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
48816c9
Fix wrong from std::abs(yaw) larger M_PI by vision.
liyixin135 Aug 3, 2024
34f6f59
Fix wrong.
liyixin135 Aug 3, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 2 additions & 2 deletions rm_gimbal_controllers/cfg/BulletSolver.cfg
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,8 +12,8 @@ gen.add("resistance_coff_qd_18", double_t, 0, "Air resistance divided by mass of
gen.add("resistance_coff_qd_30", double_t, 0, "Air resistance divided by mass of 10 m/s", 0.1, 0, 5.0)
gen.add("g", double_t, 0, "Air resistance divided by mass", 9.8, 9.6, 10.0)
gen.add("delay", double_t, 0, "Delay of bullet firing", 0.0, 0, 0.5)
gen.add("wait_next_armor_delay", double_t, 0, "Delay of shooting next target when in center mode", 0.0, 0.105, 0.5)
gen.add("wait_diagonal_armor_delay", double_t, 0, "Delay of shooting diagonal target when in center mode", 0.0, 0.105, 0.5)
gen.add("wait_next_armor_delay", double_t, 0, "Delay of shooting next target when in center mode", 0.105, 0.0, 0.5)
gen.add("wait_diagonal_armor_delay", double_t, 0, "Delay of shooting diagonal target when in center mode", 0.105, 0.0, 0.5)
gen.add("dt", double_t, 0, "Iteration interval", 0.01, 0.0001, 0.1)
gen.add("timeout", double_t, 0, "Flight time exceeded", 2.0, 0.5, 3.0)
gen.add("ban_shoot_duration", double_t, 0, "Ban shoot duration while beforehand shooting", 0.0, 0.0, 2.0)
Expand Down
4 changes: 4 additions & 0 deletions rm_gimbal_controllers/src/gimbal_base.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -301,6 +301,10 @@ void Controller::track(const ros::Time& time)
ROS_WARN("%s", ex.what());
}
double yaw = data_track_.yaw + data_track_.v_yaw * ((time - data_track_.header.stamp).toSec());
while (yaw > M_PI)
yaw -= 2 * M_PI;
while (yaw < -M_PI)
yaw += 2 * M_PI;
target_pos.x += target_vel.x * (time - data_track_.header.stamp).toSec() - odom2pitch_.transform.translation.x;
target_pos.y += target_vel.y * (time - data_track_.header.stamp).toSec() - odom2pitch_.transform.translation.y;
target_pos.z += target_vel.z * (time - data_track_.header.stamp).toSec() - odom2pitch_.transform.translation.z;
Expand Down
Loading