Fix open-loop odometry using unbounded commands by applying SpeedLimiter first#2260
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christophfroehlich merged 4 commits intoros-controls:masterfrom Apr 2, 2026
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Please cleanup this PR and don't commit your vscode folder.
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@christophfroehlich I have cleaned up the PR are there any other change required? |
Codecov Report✅ All modified and coverable lines are covered by tests. Additional details and impacted files@@ Coverage Diff @@
## master #2260 +/- ##
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Coverage 84.68% 84.68%
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Files 153 153
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Branches 1332 1332
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Partials 488 488
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Thank you, this fixes the mentioned issue. Just a nitpick comment, let's sort that to very top.
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(cherry picked from commit 7c64f3a)
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(cherry picked from commit 7c64f3a)
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Open-loop odometry was using raw velocity commands before SpeedLimiter,
causing it to integrate unbounded inputs.
Moved limiter application before odometry update so try_update_open_loop()
uses limited commands, aligning odometry with actual motion.
Fixes: #2250