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Improve sensor delta_angle calculation #527

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Improve sensor delta_angle calculation #527

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003e8ec
Improve sensor delta_angle calculation
austin-bowen Apr 17, 2026
6ef4b43
Prefer branch over useless float ops
austin-bowen Apr 17, 2026
9d49754
Add comments for angle change calculation
austin-bowen Apr 17, 2026
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17 changes: 6 additions & 11 deletions src/common/base_classes/Sensor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,18 +29,13 @@ float Sensor::getVelocity() {
}
if (Ts < min_elapsed_time) return velocity; // don't update velocity if deltaT is too small

float current_angle = 0.0f;
float prev_angle = 0.0f;
// Avoid floating point precision loss for large full_rotations
// this is likely optional
if (full_rotations == vel_full_rotations) {
current_angle = angle_prev;
prev_angle = vel_angle_prev;
} else {
current_angle = (float) full_rotations * _2PI + angle_prev;
prev_angle = (float) vel_full_rotations * _2PI + vel_angle_prev;
// Calculate change in angle. Handles `full_rotations` integer wrap-arounds,
// and avoids float precision loss issues by keeping numbers small.
float delta_angle = angle_prev - vel_angle_prev;
const int32_t delta_full_rotations = full_rotations - vel_full_rotations;
if (delta_full_rotations) {
delta_angle += delta_full_rotations * _2PI;
}
const float delta_angle = current_angle - prev_angle;

// floating point equality checks are bad, so instead we check that the angle change is very small
if (fabsf(delta_angle) > 1e-8f) {
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