Tune the localizer to work reasonably well
The biggest changes here are adding back in voltage/angular error (in
effect, reverting parts of I9744c4808edf3a43ae1c76d022460ee1d4c9ed3e)
and tweaking some of the constants so that we better trust encoders.
Change-Id: Ibd9488e0d92d86792bb7cc6437a387589252a463
diff --git a/y2019/constants.cc b/y2019/constants.cc
index aac1f95..ba737dd 100644
--- a/y2019/constants.cc
+++ b/y2019/constants.cc
@@ -143,15 +143,15 @@
stilts_params->zeroing_constants.allowable_encoder_error = 0.9;
r->camera_noise_parameters = {.max_viewable_distance = 10.0,
- .heading_noise = 0.25,
- .nominal_distance_noise = 0.3,
+ .heading_noise = 0.1,
+ .nominal_distance_noise = 0.15,
.nominal_skew_noise = 0.45,
.nominal_height_noise = 0.01};
// Deliberately make FOV a bit large so that we are overly conservative in
// our EKF.
for (auto &camera : r->cameras) {
- camera.fov = M_PI_2 * 1.1;
+ camera.fov = M_PI_2 * 1.5;
}
switch (team) {
@@ -349,7 +349,7 @@
{{kRocketFarX, kRocketHatchY, kNormalZ}, kRocketFarTheta}, kDiscRadius,
kDiscGoal);
- const Target hp_slot({{0.0, kHpSlotY, kNormalZ}, kHpSlotTheta}, 0.05,
+ const Target hp_slot({{0.0, kHpSlotY, kNormalZ}, kHpSlotTheta}, 0.00,
kBothGoal);
const ::std::array<Target, 8> quarter_field_targets{