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Matthias Grob
d014d76ca7
The velocity smoothing library constrains the maximum vellocity. I set the default constraint to 0 to find these exact issues. The heading smoothing did not initialize the maximum velocity which in this use case is the maximum heading. So heading was always constrained to 0 -> north until this change.
59 lines
2.6 KiB
C++
59 lines
2.6 KiB
C++
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#include "HeadingSmoothing.hpp"
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HeadingSmoothing::HeadingSmoothing()
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{
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_velocity_smoothing.setMaxVel(M_PI_F); // smoothed "velocity" is heading [-pi, pi]
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}
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void HeadingSmoothing::reset(const float heading, const float heading_rate)
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{
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const float wrapped_heading = matrix::wrap_pi(heading);
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_velocity_smoothing.setCurrentVelocity(wrapped_heading);
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_velocity_smoothing.setCurrentAcceleration(heading_rate);
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}
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void HeadingSmoothing::update(const float heading_setpoint, const float time_elapsed)
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{
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const float delta_heading_wrapped = matrix::wrap_pi(heading_setpoint - getSmoothedHeading());
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const float unwrapped_heading_setpoint = delta_heading_wrapped + getSmoothedHeading();
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_velocity_smoothing.updateDurations(unwrapped_heading_setpoint);
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_velocity_smoothing.updateTraj(time_elapsed);
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const float wrapped_current_heading = matrix::wrap_pi(getSmoothedHeading());
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_velocity_smoothing.setCurrentVelocity(wrapped_current_heading);
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}
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