Detune spline drivetrain
This helps with oscillations substantially.
Change-Id: Icc279a24d0460ad0006ccc19259338c0e48e0b48
diff --git a/frc971/control_loops/drivetrain/splinedrivetrain.h b/frc971/control_loops/drivetrain/splinedrivetrain.h
index 051e71a..1ce0e31 100644
--- a/frc971/control_loops/drivetrain/splinedrivetrain.h
+++ b/frc971/control_loops/drivetrain/splinedrivetrain.h
@@ -135,6 +135,7 @@
// TODO(alex): pull this out of dt_config.
const ::Eigen::DiagonalMatrix<double, 5> Q =
+ 0.2 *
(::Eigen::DiagonalMatrix<double, 5>().diagonal()
<< 1.0 / ::std::pow(0.12, 2),
1.0 / ::std::pow(0.12, 2), 1.0 / ::std::pow(0.1, 2),
diff --git a/y2019/control_loops/drivetrain/localizer_test.cc b/y2019/control_loops/drivetrain/localizer_test.cc
index 7b25ca5..e3b6398 100644
--- a/y2019/control_loops/drivetrain/localizer_test.cc
+++ b/y2019/control_loops/drivetrain/localizer_test.cc
@@ -599,7 +599,7 @@
/*noisify=*/true,
/*disturb=*/false,
/*estimate_tolerance=*/0.4,
- /*goal_tolerance=*/0.4,
+ /*goal_tolerance=*/0.8,
}),
// Repeats perfect scenario, but add initial estimator error.
LocalizerTestParams({
@@ -629,7 +629,7 @@
/*noisify=*/false,
/*disturb=*/false,
/*estimate_tolerance=*/1e-2,
- /*goal_tolerance=*/2e-2,
+ /*goal_tolerance=*/3e-2,
}),
// Add disturbances while we are driving:
LocalizerTestParams({