From 34b9159fcf527da427d6f59768c3267cae29b803 Mon Sep 17 00:00:00 2001 From: "Cole (via LattePanda)" Date: Sat, 25 Apr 2026 21:14:15 -0700 Subject: [PATCH] fix negatives --- .../config/controller_params.yaml | 22 +++++++++---------- src/guppy_control/src/chassis_controller.cpp | 2 +- 2 files changed, 12 insertions(+), 12 deletions(-) diff --git a/src/guppy_control/config/controller_params.yaml b/src/guppy_control/config/controller_params.yaml index d54f534..814c929 100644 --- a/src/guppy_control/config/controller_params.yaml +++ b/src/guppy_control/config/controller_params.yaml @@ -22,17 +22,17 @@ control_chassis: 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, ] # flattend 6 * 6 matrix - # pid_gains_vel_linear: [ 1000.0, 0.0, 0.0 ] - # pid_gains_vel_angular: [ 1000.0, 0.0, 0.0 ] + pid_gains_vel_linear: [ 1000.0, 0.0, 0.0 ] + pid_gains_vel_angular: [ 1000.0, 0.0, 0.0 ] - # pid_gains_pose_linear: [ 90.0, 0.0, 30.0 ] - # pid_gains_pose_angular: [ 70.0, 0.0, 40.0 ] + pid_gains_pose_linear: [ 90.0, 0.0, 30.0 ] + pid_gains_pose_angular: [ 70.0, 0.0, 40.0 ] - pid_gains_vel_linear: [ 0.0, 0.0, 0.0 ] - pid_gains_vel_angular: [ 0.0, 0.0, 0.0 ] + # pid_gains_vel_linear: [ 0.0, 0.0, 0.0 ] + # pid_gains_vel_angular: [ 0.0, 0.0, 0.0 ] - pid_gains_pose_linear: [ 0.0, 0.0, 0.0 ] - pid_gains_pose_angular: [ 0.0, 0.0, 0.0 ] + # pid_gains_pose_linear: [ 0.0, 0.0, 0.0 ] + # pid_gains_pose_angular: [ 0.0, 0.0, 0.0 ] pose_lock_deadband: [ 0.1, 0.1, 0.1, 0.1, 0.1, 0.1 ] @@ -48,7 +48,7 @@ control_chassis: drag_coefficients: [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ] drag_areas: [ 1.0, 1.0, 1.0, 1.0, 1.0, 1.0 ] water_density: 1000.0 # kg/m^3 - robot_volume: 0.03963 #0.0505 # m^3 - robot_mass: 34.1 #39.750 # kg - center_of_buoyancy: [ 0.0, 0.0, -0.08 ] + robot_volume: 0.0 #0.03963 # m^3 + robot_mass: 0.0 #34.1 # kg + center_of_buoyancy: [0.0, 0.0, 0.0] #[ 0.0, 0.0, -0.08 ] qp_epsilon: 0.001 \ No newline at end of file diff --git a/src/guppy_control/src/chassis_controller.cpp b/src/guppy_control/src/chassis_controller.cpp index 226d6b1..2a7ce03 100644 --- a/src/guppy_control/src/chassis_controller.cpp +++ b/src/guppy_control/src/chassis_controller.cpp @@ -114,7 +114,7 @@ Eigen::Vector3d ChassisController::calculate_rotational_nudge(bool debug) { // calculate the error quaternion Eigen::Quaternion q_err = current_orientation_state_.inverse() * desired_orientation_state_; - Eigen::Vector3d axis_err = q_err.vec(); + Eigen::Vector3d axis_err = -1 * q_err.vec(); // // flip to achieve shortest rotation // if (q_err.w() < 0) axis_err = -axis_err;