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Fixed euler wrapping.

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This commit is contained in:
James Goppert
2016-01-25 13:40:51 -05:00
parent a92d5c1338
commit 1778ac199c
2 changed files with 2 additions and 4 deletions
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matrix/Euler.hpp
-2
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@@ -61,8 +61,6 @@ public:
psi_val = Type(atan2(-dcm(1,2), -dcm(0,2)));
}
if (psi_val < 0) psi_val += 2*pi;
phi() = phi_val;
theta() = theta_val;
psi() = psi_val;
test/attitude.cpp
+2 -2
View File
@@ -104,8 +104,8 @@ int main()
roll_expected = 0;
yaw_expected = yaw + roll;
}
if (yaw_expected < 0) yaw_expected += 360;
if (yaw_expected > 360) yaw_expected -= 360;
if (yaw_expected < -180) yaw_expected += 360;
if (yaw_expected > 180) yaw_expected -= 360;
printf("roll:%d pitch:%d yaw:%d\n", roll, pitch, yaw);
Euler<double> euler_expected(