commit 155ec95b7f85f01e1cddfff631a8a4cc1e7b4bbd
author James Kuszmaul <jabukuszmaul@gmail.com> Sat Sep 25 17:33:17 2021 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sun Sep 26 07:15:16 2021 -0700
tree 3dbe6b36c7a6e7b2171d4e7ad9048c5087e7d8e7
parent e7e6f327c8703263fe17c33016950435505cde8f

Increase history size in localizer

Change-Id: Ifff61d563189685e2483ef769c8cc364503e31e4
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>

frc971/control_loops/drivetrain/hybrid_ekf.h

diff --git a/frc971/control_loops/drivetrain/hybrid_ekf.h b/frc971/control_loops/drivetrain/hybrid_ekf.h
index 04ffa4e..ecdabb8 100644
--- a/frc971/control_loops/drivetrain/hybrid_ekf.h
+++ b/frc971/control_loops/drivetrain/hybrid_ekf.h
@@ -137,7 +137,7 @@
   };
   static constexpr int kNInputs = 4;
   // Number of previous samples to save.
-  static constexpr int kSaveSamples = 50;
+  static constexpr int kSaveSamples = 80;
   // Whether we should completely rerun the entire stored history of
   // kSaveSamples on every correction. Enabling this will increase overall CPU
   // usage substantially; however, leaving it disabled makes it so that we are