imu: fakeimu use wheel odometry to simulate vyaw

Signed-off-by: Thomas Chou <thomas@wytron.com.tw>
hippo5329 · May 8, 2024 · 51d48fb · 51d48fb
1 parent d3c03d2
commit 51d48fb
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/firmware/src/firmware.ino b/firmware/src/firmware.ino
@@ -337,6 +337,9 @@ void publishData()
 {
     odom_msg = odometry.getData();
     imu_msg = imu.getData();
+#ifdef USE_FAKE_IMU
+    imu_msg.angular_velocity.z = odom_msg.twist.twist.angular.z;
+#endif
     mag_msg = mag.getData();
 #ifdef MAG_BIAS
     const float mag_bias[3] = MAG_BIAS;