update delta gyro

common/mb_odometry.c

@@ -39,7 +39,7 @@ void mb_update_odometry(mb_odometry_t* mb_odometry, mb_state_t* mb_state){
     //del_thresh Needs to be tuned
     //IF DON'T WANT GYRO, SET IT AS F!
     float enc2meters = (WHEEL_DIAMETER * PI) / (GEAR_RATIO * ENCODER_RES);
-    float del_thesh = 0.125/DT; 
+    float del_thesh =  0.3; //0.125/DT; 
     boolean Gyro = T;
 
     float del_left = mb_state->left_encoder_delta * 1.0 * enc2meters;
@@ -54,7 +54,8 @@ void mb_update_odometry(mb_odometry_t* mb_odometry, mb_state_t* mb_state){
 
     // Gyro: we only need to use yaw
     // Since each time step is small, no need to integrate
-    float del_theta_gyro = mb_clamp_radians(mb_state->gyro[2] * (PI / 180.0) * DT);
+    //float del_theta_gyro = mb_clamp_radians(mb_state->gyro[2] * (PI / 180.0) * DT);
+    float del_theta_gyro = mb_clamp_radians(mb_state->tb_angles[2] - mb_state->last_yaw);
     float del_go = del_theta_gyro - del_theta;
     if (Gyro == T){
         if (abs(del_go) > del_thesh){mb_odometry->theta += del_theta_gyro * DT;}