Corrected imu subscriber to use radians

jeguzzi · Sep 24, 2022 · beed4c2 · beed4c2
1 parent e4f2e3f
commit beed4c2
Showing 1 changed file with 4 additions and 3 deletions.
diff --git a/include/command_subjects.hpp b/include/command_subjects.hpp
@@ -239,9 +239,10 @@ struct ImuSubject : SubjectWithUID<0x00020009a7985b8d> {
     acc_x = acc(imu_body.acceleration.x);
     acc_y = -acc(imu_body.acceleration.y);
     acc_z = -acc(imu_body.acceleration.z);
-    gyro_x = rad2deg(imu_body.angular_velocity.x);
-    gyro_y = -rad2deg(imu_body.angular_velocity.y);
-    gyro_z = -rad2deg(imu_body.angular_velocity.z);
+    // CHANGED: now in radians
+    gyro_x = imu_body.angular_velocity.x;
+    gyro_y = -imu_body.angular_velocity.y;
+    gyro_z = -imu_body.angular_velocity.z;
   }
 };