fix(pid_longitudinal_control): slope definition #5116
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Signed-off-by: Takamasa Horibe <[email protected]>
Signed-off-by: Takamasa Horibe <[email protected]>
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TakaHoribe
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Sep 25, 2023
| return pitch; | ||
| // The pitch angle of the posture is defined as positive when facing downward. | ||
| // Thus, the definition is the opposite of the slope. | ||
| const auto slope = -pitch; |
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This is the main fix of this PR.
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Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #5116 +/- ##
=======================================
Coverage 14.99% 14.99%
=======================================
Files 1608 1608
Lines 111834 111837 +3
Branches 34693 34694 +1
=======================================
+ Hits 16764 16766 +2
Misses 76336 76336
- Partials 18734 18735 +1
*This pull request uses carry forward flags. Click here to find out more.
☔ View full report in Codecov by Sentry. |
|
FIxed in #5199 |
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Description
Fix the wrong definition of the slope in the code coming from #5090.
To remove the ambiguity in the definitions of pitch angle and slope angle, they have been defined in the readme.
Additionally, because the function name getPitch was unclear, it has been unified to the function name getSlope.
Related links
None
Tests performed
run psim.
Notes for reviewers
None
Interface changes
None
Effects on system behavior
The wrong slope compensation is fixed coming from #5090.
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