hacked in basic yaw wrapping

ethz-asl / mav_control_rw

Control strategies for rotary wing Micro Aerial Vehicles using ROS

Apache License 2.0

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hacked in basic yaw wrapping #19

Closed helenol closed 6 years ago

helenol commented 6 years ago

Actually Zac on Flybook, img_20180704_114007

The kalman filter does not take into account the fact that yaw can wrap, this causes a massive jump in the z moment. This is an ugly hack for now that I will fix properly when I get back to lab

fmina commented 6 years ago

Nice catch! LGTM

helenol commented 6 years ago

Actually Zac on flybook. I am undoing this for now as the wrapping is not flowing through the kalman filter properly and is causing more problems than it solves.