commit 207ae32a45acb2ac208efcfe31074714f4892bde
author James Kuszmaul <jabukuszmaul@gmail.com> Fri Feb 25 21:15:31 2022 -0800
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Fri Feb 25 23:42:20 2022 -0800
tree 57a9d7d986f7697530eedf0a3571f1064dc97d6b
parent e2f40d7d59c43b2c827a39569930810af66e8850

Tune down estimator for ADIS16505

* Update down_estimator_plotter for the ADIS16505 setup (would be
  nice to refactor things to make it so that you can apply a plot
  config to a particular submessage type...).
* Crank up the threshold to consider the IMU still, to avoid resetting
  in the middle of real motion.
* Also check in the IMU transform from the jankily-mounted IMU on the
  2020 robot.

Change-Id: I4c6791524c3436614db045d3f2ba371f2400b084
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>

frc971/wpilib/imu_plotter.ts

diff --git a/frc971/wpilib/imu_plotter.ts b/frc971/wpilib/imu_plotter.ts
index 0c735eb..6768e1c 100644
--- a/frc971/wpilib/imu_plotter.ts
+++ b/frc971/wpilib/imu_plotter.ts
@@ -19,7 +19,7 @@
       '/drivetrain', 'frc971.control_loops.drivetrain.Status');
 
   const imu = aosPlotter.addRawMessageSource(
-      '/drivetrain', 'frc971.IMUValuesBatch',
+      '/localizer', 'frc971.IMUValuesBatch',
       new ImuMessageHandler(conn.getSchema('frc971.IMUValuesBatch')));
 
   const accelX = accelPlot.addMessageLine(imu, ['accelerometer_x']);