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Use average dt values for velocity calculation #60

Merged
merged 1 commit into from
Apr 19, 2021
Merged

Use average dt values for velocity calculation #60

merged 1 commit into from
Apr 19, 2021

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tim-fan
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@tim-fan tim-fan commented Feb 23, 2021

Fixes #36

Tested on my Create2, running Ubuntu 18.04 on a Intel(R) Core(TM) i7-8650U CPU @ 1.90GHz (Intel NUC).

The underlying issue appears to be that dt values between onData calls do not accurately represent the dt values at which the encoders are sampled. It appears that averaging the onData dt values yields more accurate results.

@jacobperron jacobperron self-requested a review February 23, 2021 00:50
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jacobperron approved these changes Apr 19, 2021
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I tried it out on a Create 1. Before this change, I did observe spikes in the velocity from odometry, but with this change the spike are gone and velocity looks reasonable to me.

Thanks for the patch!

@jacobperron jacobperron merged commit 20ed0b1 into AutonomyLab:master Apr 19, 2021
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Odometry velocity too large
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@tim-fan @jacobperron