add offset for rover localization

jbrhm · jbrhm · commit d5aa4e4368e8 · 2025-03-24T09:19:42.000-04:00
diff --git a/teleoperation/basestation_gui/frontend/src/utils.ts b/teleoperation/basestation_gui/frontend/src/utils.ts
@@ -33,7 +33,7 @@ const convertDMS = function(coordinate, format: string) {
 const quaternionToMapAngle = function(quaternion: number[]): number {
   const [qx, qy, qz, qw] = quaternion
   const yaw = Math.atan2(2 * (qw * qz + qx * qy), 1 - 2 * (qy * qy + qz * qz))
-  return (yaw) * (180 / Math.PI)
+  return (yaw + Math.PI / 2) * (180 / Math.PI)
 }
 
 export { convertDMS, quaternionToMapAngle }

Original file line number	Diff line number	Diff line change
`@@ -33,7 +33,7 @@ const convertDMS = function(coordinate, format: string) {`
`33`	`33`	`const quaternionToMapAngle = function(quaternion: number[]): number {`
`34`	`34`	`const [qx, qy, qz, qw] = quaternion`
`35`	`35`	`const yaw = Math.atan2(2 * (qw * qz + qx * qy), 1 - 2 * (qy * qy + qz * qz))`
`36`		`- return (yaw) * (180 / Math.PI)`
	`36`	`+ return (yaw + Math.PI / 2) * (180 / Math.PI)`
`37`	`37`	`}`
`38`	`38`
`39`	`39`	`export { convertDMS, quaternionToMapAngle }`