Fix bug

viam-modules · Nov 9, 2023 · 07de257 · 07de257
1 parent 221b47c
commit 07de257
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/sensors/movementsensor.go b/sensors/movementsensor.go
@@ -165,7 +165,7 @@ func (ms *MovementSensor) timedIMUReading(ctx context.Context, angVel *spatialma
 					Y: rdkutils.DegToRad(angVel.Y),
 					Z: rdkutils.DegToRad(angVel.Z),
 				},
-				ReadingTime: readingTimeLinearAcc.Add(readingTimeLinearAcc.Sub(*readingTimeAngularVel) / 2),
+				ReadingTime: readingTimeLinearAcc.Add((readingTimeLinearAcc.Sub(*readingTimeAngularVel)).Abs() / 2),
 			}, true
 		}
 		return TimedIMUReadingResponse{}, false
@@ -224,7 +224,7 @@ func (ms *MovementSensor) timedOdometerReading(ctx context.Context, position *ge
 			return TimedOdometerReadingResponse{
 				Position:    position,
 				Orientation: *orientation,
-				ReadingTime: readingTimePosition.Add(readingTimePosition.Sub(*readingTimeOrientation) / 2),
+				ReadingTime: readingTimePosition.Add((readingTimePosition.Sub(*readingTimeOrientation) / 2).Abs()),
 			}, true
 		}
 		return TimedOdometerReadingResponse{}, false