8000 Fixed yawrate error bug by MihirDharmadhikari · Pull Request #1 · ntnu-arl/gz-sim · GitHub
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Fixed yawrate error bug #1

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Fixed yawrate error bug #1

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e8ae46b
Fixed yawrate error bug
MihirDharmadhikari Mar 19, 2025
16c6e86
vcstool file for gazebo garden source packages
MihirDharmadhikari Mar 19, 2025
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66 changes: 66 additions & 0 deletions collection-garden.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,66 @@
---
repositories:
gz-cmake:
type: git
url: https://github.com/gazebosim/gz-cmake
version: gz-cmake3
gz-common:
type: git
url: https://github.com/gazebosim/gz-common
version: gz-common5
gz-fuel-tools:
type: git
url: https://github.com/gazebosim/gz-fuel-tools
version: gz-fuel-tools8
gz-sim:
type: git
url: https://github.com/ntnu-arl/gz-sim.git
version: dev/multicopter_control
gz-gui:
type: git
url: https://github.com/gazebosim/gz-gui
version: gz-gui7
gz-launch:
type: git
url: https://github.com/gazebosim/gz-launch
version: gz-launch6
gz-math:
type: git
url: https://github.com/gazebosim/gz-math
version: gz-math7
gz-msgs:
type: git
url: https://github.com/gazebosim/gz-msgs
version: gz-msgs9
gz-physics:
type: git
url: https://github.com/gazebosim/gz-physics
version: gz-physics6
gz-plugin:
type: git
url: https://github.com/gazebosim/gz-plugin
version: gz-plugin2
gz-rendering:
type: git
url: https://github.com/gazebosim/gz-rendering
version: gz-rendering7
gz-sensors:
type: git
url: https://github.com/gazebosim/gz-sensors
version: gz-sensors7
gz-tools:
type: git
url: https://github.com/gazebosim/gz-tools
version: gz-tools2
gz-transport:
type: git
url: https://github.com/gazebosim/gz-transport
version: gz-transport12
gz-utils:
type: git
url: https://github.com/gazebosim/gz-utils
version: gz-utils2
sdformat:
type: git
url: https://github.com/gazebosim/sdformat
version: sdf13
9 changes: 9 additions & 0 deletions src/systems/multicopter_position_control/LeePositionController.cc
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Expand Up @@ -196,6 +196,15 @@ Eigen::Vector3d LeePositionController::ComputeDesiredAngularAcc(
{
gzerr << "Yaw rate error is greater than pi. yawrate_error: " << yawrate_error << std::endl;
}

if (yawrate_error < -M_PI)
{
yawrate_error += 2 * M_PI;
}
else if (yawrate_error > M_PI)
{
yawrate_error -= 2*M_PI;
}

Eigen::Vector3d angularRateDes(Eigen::Vector3d::Zero());
// current yaw angle
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0