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Normalize drone orientation errors to [-pi, pi] #218

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Normalize drone orientation errors to [-pi, pi] #218

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73c064d
Normalize drone orientation errors to [-pi, pi]
freedomcondor Feb 26, 2023
f12fed7
Adjust QTOpengl mouse camera movement logic and selected object verti…
freedomcondor Mar 17, 2023
2c32839
Merge branch 'ilpincy:master' into master
freedomcondor Apr 7, 2023
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11 changes: 10 additions & 1 deletion src/plugins/robots/drone/simulator/pointmass3d_drone_model.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -163,9 +163,18 @@ namespace argos
/*** attitude (roll, pitch, yaw) control ***/
/* roll, pitch, yaw errors */
CVector3 cOrientationError(cOrientationTarget - m_cOrientation);
/* Normalize yaw error to [-pi, pi] */
CRadians cOrientationYawError;
cOrientationYawError.SetValue(cOrientationError.GetZ());
cOrientationError.SetZ(cOrientationYawError.SignedNormalize().GetValue());
/* desired roll, pitch, yaw rates */
CVector3 cPrevTargetOrientationError = cOrientationTarget - m_cOrientationTargetPrev;
/* Normalize previous target orientation yaw error to [-pi, pi] */
CRadians cPrevTargetYawError;
cPrevTargetYawError.SetValue(cPrevTargetOrientationError.GetZ());
cPrevTargetOrientationError.SetZ(cPrevTargetYawError.SignedNormalize().GetValue());
CVector3 cAngularVelocityTarget =
(cOrientationTarget - m_cOrientationTargetPrev) / GetPM3DEngine().GetPhysicsClockTick();
cPrevTargetOrientationError / GetPM3DEngine().GetPhysicsClockTick();
/* previous desired roll, pitch, yaw values for the controllers */
m_cOrientationTargetPrev = cOrientationTarget;
/* rotational rate errors */
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