Odometry autocalibration

Correction of wrong calibration when using cal data.

diff --git a/src/robofsm/strategy_odo_calibration.cc b/src/robofsm/strategy_odo_calibration.cc
index 40987cf201fe8e85bb46642cfadc1da21de6c6a9..fb13894a0527ae003c73122a7afd2fb19c9521e0 100644 (file)
--- a/src/robofsm/strategy_odo_calibration.cc
+++ b/src/robofsm/strategy_odo_calibration.cc
@@ -11,6 +11,8 @@ FSM_STATE(calibrate)
        switch (FSM_EVENT) {
                case EV_ENTRY:
                        FSM_TIMER(2000);
+                       robot.odo_cal_a = 1;
+                       robot.odo_cal_b = 1;
                        break;
                case EV_TIMER:
                        SUBFSM_TRANSITION(go_back_for_cal,NULL);