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Fixed error with odometry caused by clockwise/counterclockwise angles #215

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Fixed error with odometry caused by clockwise/counterclockwise angles #215

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9 changes: 5 additions & 4 deletions src/ardrone_driver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -686,11 +686,12 @@ void ARDroneDriver::PublishOdometry(const navdata_unpacked_t &navdata_raw, const
if (last_receive_time.isValid())
{
double delta_t = (navdata_receive_time - last_receive_time).toSec();
odometry[0] += ((cos((navdata_raw.navdata_demo.psi / 180000.0) * M_PI) *
navdata_raw.navdata_demo.vx - sin((navdata_raw.navdata_demo.psi / 180000.0) * M_PI) *
double yaw_angle = -(navdata_raw.navdata_demo.psi / 180000.0) * M_PI;
odometry[0] += ((cos(yaw_angle) *
navdata_raw.navdata_demo.vx - sin(yaw_angle) *
-navdata_raw.navdata_demo.vy) * delta_t) / 1000.0;
odometry[1] += ((sin((navdata_raw.navdata_demo.psi / 180000.0) * M_PI) *
navdata_raw.navdata_demo.vx + cos((navdata_raw.navdata_demo.psi / 180000.0) * M_PI) *
odometry[1] += ((sin(yaw_angle) *
navdata_raw.navdata_demo.vx + cos(yaw_angle) *
-navdata_raw.navdata_demo.vy) * delta_t) / 1000.0;
}
last_receive_time = navdata_receive_time;
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