Ignore localizer updates during autonomous
localizer pi is giving bad yaw's during auto. Ignore it.
Change-Id: Idad577933b2f0b024fd0ad04da20b555dc7c9b28
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>
diff --git a/y2022/control_loops/drivetrain/localizer.h b/y2022/control_loops/drivetrain/localizer.h
index 4505e9b..0d2673b 100644
--- a/y2022/control_loops/drivetrain/localizer.h
+++ b/y2022/control_loops/drivetrain/localizer.h
@@ -8,6 +8,7 @@
#include "frc971/control_loops/drivetrain/localizer.h"
#include "y2022/localizer/localizer_output_generated.h"
#include "aos/network/message_bridge_server_generated.h"
+#include "frc971/input/joystick_state_generated.h"
namespace y2022 {
namespace control_loops {
@@ -67,6 +68,7 @@
HybridEkf ekf_;
aos::Fetcher<frc971::controls::LocalizerOutput> localizer_output_fetcher_;
+ aos::Fetcher<aos::JoystickState> joystick_state_fetcher_;
aos::Fetcher<aos::message_bridge::ServerStatistics> clock_offset_fetcher_;
// Target selector to allow us to satisfy the LocalizerInterface requirements.