Merge pull request #59 from astuff/fix/lexus_G29

G29 joystick fixes for lexus
astuff · May 9, 2019 · 0e6b031 · 0e6b031
2 parents ddcd5eb + d6ef0e0
commit 0e6b031
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/include/pacmod_game_control/globals.h b/include/pacmod_game_control/globals.h
@@ -103,7 +103,7 @@ static const float ACCEL_SCALE_FACTOR = 0.6;
 static const float ACCEL_OFFSET = 0.21;
 static const float STEER_SCALE_FACTOR = 1.5;
 static const float STEER_OFFSET = 1.0;
-static const float MAX_ROT_RAD_VEHICLE2 = 6.5;
+static const float MAX_ROT_RAD_VEHICLE2 = 8.5;
 static const float MAX_ROT_RAD_VEHICLE4 = 8.5;
 static const float MAX_ROT_RAD_VEHICLE5 = 8.1;
 static const float MAX_ROT_RAD_VEHICLE6 = 8.5;

diff --git a/src/publish_control_board_rev3.cpp b/src/publish_control_board_rev3.cpp
@@ -65,7 +65,7 @@ void PublishControlBoardRev3::publish_steering_message(const sensor_msgs::Joy::C
   }
 
   float range_scale;
-  if (vehicle_type == VEHICLE_4 || vehicle_type == VEHICLE_6)
+  if (vehicle_type == VEHICLE_4 || vehicle_type == VEHICLE_6 || vehicle_type == LEXUS_RX_450H)
     range_scale = 1.0;
   else
     range_scale = fabs(msg->axes[axes[steering_axis]]) * (STEER_OFFSET - ROT_RANGE_SCALER_LB) + ROT_RANGE_SCALER_LB;