Tune localizer more
This makes us trust our current x/y position more so that we are less
liklikely to end up being off by one target on the cargo ship side.
Change-Id: Ia5f5f08866cffc099077970ad1deebae7985ba41
diff --git a/frc971/control_loops/drivetrain/hybrid_ekf.h b/frc971/control_loops/drivetrain/hybrid_ekf.h
index 104deee..42dc67a 100644
--- a/frc971/control_loops/drivetrain/hybrid_ekf.h
+++ b/frc971/control_loops/drivetrain/hybrid_ekf.h
@@ -457,8 +457,8 @@
// probably be reduced when we are stopped because you rarely jump randomly.
// Or maybe it's more appropriate to scale wheelspeed noise with wheelspeed,
// since the wheels aren't likely to slip much stopped.
- Q_continuous_(kX, kX) = 0.01;
- Q_continuous_(kY, kY) = 0.01;
+ Q_continuous_(kX, kX) = 0.002;
+ Q_continuous_(kY, kY) = 0.002;
Q_continuous_(kTheta, kTheta) = 0.0002;
Q_continuous_(kLeftEncoder, kLeftEncoder) = ::std::pow(0.15, 2.0);
Q_continuous_(kRightEncoder, kRightEncoder) = ::std::pow(0.15, 2.0);
diff --git a/y2019/control_loops/drivetrain/localizer_test.cc b/y2019/control_loops/drivetrain/localizer_test.cc
index 563c159..281abdc 100644
--- a/y2019/control_loops/drivetrain/localizer_test.cc
+++ b/y2019/control_loops/drivetrain/localizer_test.cc
@@ -538,7 +538,7 @@
/*noisify=*/true,
/*disturb=*/false,
/*estimate_tolerance=*/0.2,
- /*goal_tolerance=*/0.3,
+ /*goal_tolerance=*/0.4,
}),
// Repeats perfect scenario, but add initial estimator error.
LocalizerTestParams({