From ff55313b0bee7d6db88c4e4dbd62fd40c6b6591f Mon Sep 17 00:00:00 2001 From: chfriedrich98 Date: Tue, 26 Nov 2024 16:45:34 +0100 Subject: [PATCH] mecanum: update current position in main file --- src/modules/rover_mecanum/RoverMecanum.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/modules/rover_mecanum/RoverMecanum.cpp b/src/modules/rover_mecanum/RoverMecanum.cpp index 6c9538d6dd..b0729acc02 100644 --- a/src/modules/rover_mecanum/RoverMecanum.cpp +++ b/src/modules/rover_mecanum/RoverMecanum.cpp @@ -283,6 +283,7 @@ void RoverMecanum::updateSubscriptions() if (_vehicle_local_position_sub.updated()) { vehicle_local_position_s vehicle_local_position{}; _vehicle_local_position_sub.copy(&vehicle_local_position); + _curr_pos_ned = Vector2f(vehicle_local_position.x, vehicle_local_position.y); Vector3f velocity_in_local_frame(vehicle_local_position.vx, vehicle_local_position.vy, vehicle_local_position.vz); Vector3f velocity_in_body_frame = _vehicle_attitude_quaternion.rotateVectorInverse(velocity_in_local_frame); // Apply threshold to the velocity measurement to cut off measurement noise when standing still