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fix negatives #58

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Merged
andy-sorge merged 1 commit into from
Apr 26, 2026
Merged

fix negatives #58

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22 changes: 11 additions & 11 deletions src/guppy_control/config/controller_params.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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 ]

Expand All @@ -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
2 changes: 1 addition & 1 deletion src/guppy_control/src/chassis_controller.cpp
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Expand Up @@ -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;
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