Fixed error with odometry caused by clockwise/counterclockwise angles#215
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HALtheWise wants to merge 1 commit intoAutonomyLab:indigo-develfrom
Open
Fixed error with odometry caused by clockwise/counterclockwise angles#215HALtheWise wants to merge 1 commit intoAutonomyLab:indigo-develfrom
HALtheWise wants to merge 1 commit intoAutonomyLab:indigo-develfrom
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During testing with the AR Drone 2.0, we noticed that odometry and state estimation was behaving incorrectly when the drone was not facing North or South. We tracked this down to a missing negative sign in the state estimate calculations, caused by clockwise angles coming from the drone, and counterclockwise angles expected by the trigonometry.