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scale the steer angle from 1000 to 100 times

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This commit is contained in:
wangzheqie
2021-04-21 13:48:05 +08:00
parent 158f62a7f4
commit bb2af927da
2 changed files with 5 additions and 1 deletions
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5
src/ranger_base.cpp
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@@ -53,7 +53,7 @@ void RangerBase::ParseCANFrame(can_frame *rx_frame) {
}
void RangerBase::UpdateRangerState(const AgxMessage &status_msg,
RangerState &state) {
RangerState &state) {
switch (status_msg.type) {
case AgxMsgSystemState: {
// std::cout << "system status feedback received" << std::endl;
@@ -63,6 +63,9 @@ void RangerBase::UpdateRangerState(const AgxMessage &status_msg,
case AgxMsgMotionState: {
// std::cout << "motion control feedback received" << std::endl;
state.motion_state = status_msg.body.motion_state_msg;
state.motion_state.steering_angle *= 10;
// std::cout << "steering angle: " << state.motion_state.steering_angle <<
// std::endl;
break;
}
case AgxMsgLightState: {