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fix(olei): LR-1BS5 device 0° is at the rear — add the 180° angle offset

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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) <noreply@anthropic.com>
This commit is contained in:
Trương Văn Lộc
2026-07-22 15:02:28 +07:00
parent 161a33a71e
commit 553b07147b
1 changed files with 1 additions and 1 deletions
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plugins/driver_olei/olei_driver.hpp
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@@ -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 };