[FEATURE] An idear for shaftAngle & filter.

[FFiot]

1. mechanic_angle & mechanic_angle_prev from 0° ~ 360°.
2. The angle changes from -180° to +180°.
3. rotation_cnt for angle control.

step 1:
if(mechanic_angle > mechanic_angle_prev + 180){
mechanic_angle -= 360;
}else if(mechanic_angle < mechanic_angle_prev - 180){
mechanic_angle += 360;
}

step 2:
LPF_angle(mechanic_angle);

step 3:
if(mechanic_angle >= 360.0f){
mechanic_angle -= 360.0f;
}else if(mechanic_angle < 0.0f){
mechanic_angle += 360.0f;
}

step 4:
if(LPF_angle.y_prev >= 360){
LPF_angle.y_prev -=360;
rotation_cnt += 1;
}
if(LPF_angle.y_prev < 0){
LPF_angle.y_prev +=360;
rotation_cnt -= 1；
}

[runger1101001]

I am not sure I understand… what problem are you trying to improve with this?

the shaft angle is already computed via LPF filtering, and the full rotations are accounted for in the sensor class…

[FFiot]

src\common\base_classes\Sensor.cpp Line 54：
float Sensor::getAngle(){
return (float)full_rotations * _2PI + angle_prev;
}

1. Do not need：(float)full_rotations * _2PI.
2. Angle & angle_prev from 0 ~ 360°. Angles will not become large.

// TODO sensor precision: the shaft_angle actually stores the complete position, including full rotations, as a float
// For this reason it is NOT precise when the angles become large.
// Additionally, the way LPF works on angle is a precision issue, and the angle-LPF is a problem
// when switching to a 2-component representation.

[runger1101001]

I think internally it already works this way - see sensor.getMechanicalAngle()

the precision problem exists still in position mode - where you can command angles mich larger than 2PI

we would have to change the API for position mode to solve this problem.

on the sensor side it is already solved…