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I values cause heading to drift in simulation #321

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CoffeeCoder1 opened this issue Feb 5, 2025 · 0 comments
Open

I values cause heading to drift in simulation #321

CoffeeCoder1 opened this issue Feb 5, 2025 · 0 comments

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@CoffeeCoder1
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CoffeeCoder1 commented Feb 5, 2025

When an I value is set in the heading PID controller, the Robot pose heading will slowly drift, but the OdometryPose does not show this change. I haven't gotten a chance to test this on a real robot, so there's a chance that it's a bug in the heading control logic, but I feel like the gyro should correct for this, so it's probably something simulation-specific (maybe the integrator is putting out a small output which is turning the simulated robot but not the odometry?).

Image (robot after a minute or so - this doesn't seem to happen at all when `I` is set to 0)
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