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Fix orientation in map (#21863)

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* fix calibrated orientation

* update ref

* cleaner

* update ref

* master

* update again

* update ref again again

* actually compiled this tim,e
old-commit-hash: e0087fc313
This commit is contained in:
HaraldSchafer
2021-08-05 21:06:46 -07:00
committed by GitHub
parent 331eb5d553
commit 3eb667e29d
4 changed files with 8 additions and 5 deletions
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selfdrive/ui/qt/maps/map.cc
+1 -1
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@@ -129,7 +129,7 @@ void MapWindow::timerUpdate() {
if (localizer_valid) {
auto pos = location.getPositionGeodetic();
auto orientation = location.getOrientationNED();
auto orientation = location.getCalibratedOrientationNED();
float velocity = location.getVelocityCalibrated().getValue()[0];
float bearing = RAD2DEG(orientation.getValue()[2]);
selfdrive/ui/qt/maps/map_helpers.cc
+1 -1
View File
@@ -17,7 +17,7 @@ QMapbox::CoordinatesCollections model_to_collection(
Eigen::Vector3d ecef(positionECEF.getValue()[0], positionECEF.getValue()[1], positionECEF.getValue()[2]);
Eigen::Vector3d orient(calibratedOrientationECEF.getValue()[0], calibratedOrientationECEF.getValue()[1], calibratedOrientationECEF.getValue()[2]);
Eigen::Matrix3d ecef_from_local = euler2rot(orient).transpose();
Eigen::Matrix3d ecef_from_local = euler2rot(orient);
QMapbox::Coordinates coordinates;
auto x = line.getX();