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-rw-r--r--logic/tracker.cpp6
1 files changed, 5 insertions, 1 deletions
diff --git a/logic/tracker.cpp b/logic/tracker.cpp
index dc148eba..fd6ecfe7 100644
--- a/logic/tracker.cpp
+++ b/logic/tracker.cpp
@@ -141,9 +141,13 @@ void Tracker::logic()
{
using std::fmod;
using std::copysign;
+ using std::fabs;
const double x = value(i);
- value(i) = fmod(x + copysign(180, x), 360) - copysign(180, x);
+ if (fabs(x) - 1e-2 > 180)
+ value(i) = fmod(x - copysign(180, -x), 360) + copysign(180, x);
+ else
+ value(i) = clamp(x, -180, 180);
}
logger.write_pose(raw); // raw