From 553b07147ba89390340e596c9c6e55d66f1254ca Mon Sep 17 00:00:00 2001 From: loctv Date: Wed, 22 Jul 2026 15:02:28 +0700 Subject: [PATCH] =?UTF-8?q?fix(olei):=20LR-1BS5=20device=200=C2=B0=20is=20?= =?UTF-8?q?at=20the=20rear=20=E2=80=94=20add=20the=20180=C2=B0=20angle=20o?= =?UTF-8?q?ffset?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Field-verified on an OLELR-1BS5 unit: with offset 0 the SLAM pose moved correctly but the estimated heading came out 180° from the direction of travel (the classic rotated-sensor-frame signature). The 1BS5 numbers its angles from the rear like its LR-1F/LR-1FMI siblings, so it gets the same angle_offset_deg = 180 so that driver output 0° = ahead. Co-Authored-By: Claude Opus 4.8 (1M context) --- plugins/driver_olei/olei_driver.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/plugins/driver_olei/olei_driver.hpp b/plugins/driver_olei/olei_driver.hpp index 5df5b37..d62f714 100644 --- a/plugins/driver_olei/olei_driver.hpp +++ b/plugins/driver_olei/olei_driver.hpp @@ -13,7 +13,7 @@ inline constexpr ModelConfig MODEL_VB { "VB", -135.f, 135.f, 0.05f, 30. inline constexpr ModelConfig MODEL_VF { "VF", -180.f, 180.f, 0.05f, 30.f }; // 2D 360° inline constexpr ModelConfig MODEL_LR1F { "LR-1F", -180.f, 180.f, 0.05f, 50.f, 180.f }; // 2D 360° 50m; device 0° = rear inline constexpr ModelConfig MODEL_LR1FMI { "LR-1FMI", -180.f, 180.f, 0.05f, 30.f, 180.f }; // 2D 360° (Family B); device 0° = rear -inline constexpr ModelConfig MODEL_LR1BS5 { "LR-1BS5", -180.f, 180.f, 0.05f, 30.f }; // 2D 360° (Family B) +inline constexpr ModelConfig MODEL_LR1BS5 { "LR-1BS5", -180.f, 180.f, 0.05f, 30.f, 180.f }; // 2D 360° (Family B); device 0° = rear (field-verified on OLELR-1BS5: with offset 0 the SLAM heading came out 180° from the direction of travel) inline constexpr ModelConfig MODEL_LR16F { "LR-16F", -135.f, 135.f, 0.05f, 30.f }; // 3D 16 line inline constexpr ModelConfig MODEL_GS15 { "GS1-5", -180.f, 180.f, 0.05f, 30.f }; // 2D 360° (Family C/V3) inline constexpr ModelConfig MODEL_AUTO { "AUTO", -180.f, 180.f, 0.05f, 30.f };