commit 0a98140205ec30048471eb30ce138e78577c7c3b
author James Kuszmaul <jabukuszmaul@gmail.com> Sat Oct 09 21:00:34 2021 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Fri Oct 15 20:36:48 2021 -0700
tree 9ffc95674ee8f4f521229937ae23edfc15acd68f
parent 37d2c3043cf4ff743c1ba959ebdb4913f3ad9efc

Use ADIS16448 in y2020

This updates the IMU transform to be correct for the yaw axis, but may
have the X/Y axes/signs wrong if we care about accelerometer or
roll/pitch data.

Change-Id: I73d86c8be18f447bb35fc13666ccfdda29fef257
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>

frc971/zeroing/imu_zeroer.h

diff --git a/frc971/zeroing/imu_zeroer.h b/frc971/zeroing/imu_zeroer.h
index fd82571..2473a66 100644
--- a/frc971/zeroing/imu_zeroer.h
+++ b/frc971/zeroing/imu_zeroer.h
@@ -16,7 +16,7 @@
   // constant number of samples...
   // TODO(james): Run average and GetRange calculations over every sample on
   // every timestep, to provide consistent timing.
-  static constexpr size_t kSamplesToAverage = 1000;
+  static constexpr size_t kSamplesToAverage = 200;
   static constexpr size_t kRequiredZeroPoints = 10;
 
   ImuZeroer();