Change the direction of azimuth orientation
Signed-off-by: zisi <agzisim@gmail.com>merge-requests/5/head
parent
5e52770db6
commit
961fb69653
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@ -78,7 +78,7 @@ public:
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else if (delta_raw_pos < -180)
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else if (delta_raw_pos < -180)
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_n--;
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_n--;
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// Calculate the real angle
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// Calculate the real angle
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real_pos = ((raw_pos + 360 * _n) / _enc_ratio) - _angle_offset;
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real_pos = - ((raw_pos + 360 * _n) / _enc_ratio) - _angle_offset;
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_raw_prev_pos = raw_pos;
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_raw_prev_pos = raw_pos;
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}
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}
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*new_pos = (double)real_pos;
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*new_pos = (double)real_pos;
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