Reduce size of IMU zeroing buffer
The 10000 sample buffer was causing some issues. Lower the size of the
buffer until I can determine how I really want to manage it.
Change-Id: I9e4a84a8448ed4aeb7e7cc39622970a9aeede674
diff --git a/frc971/zeroing/imu_zeroer_test.cc b/frc971/zeroing/imu_zeroer_test.cc
index 9919e2f..9ec52da 100644
--- a/frc971/zeroing/imu_zeroer_test.cc
+++ b/frc971/zeroing/imu_zeroer_test.cc
@@ -89,16 +89,16 @@
ASSERT_TRUE(zeroer.Zeroed());
ASSERT_FALSE(zeroer.Faulted());
// Gyro should be zeroed to {1, 2, 3}.
- ASSERT_NEAR(1.0, zeroer.GyroOffset().x(), 1e-10);
- ASSERT_NEAR(2.0, zeroer.GyroOffset().y(), 1e-10);
- ASSERT_NEAR(3.0, zeroer.GyroOffset().z(), 1e-10);
+ ASSERT_NEAR(1.0, zeroer.GyroOffset().x(), 1e-8);
+ ASSERT_NEAR(2.0, zeroer.GyroOffset().y(), 1e-8);
+ ASSERT_NEAR(3.0, zeroer.GyroOffset().z(), 1e-8);
// If we get another measurement offset by {1, 1, 1} we should read the result
// as {1, 1, 1}.
zeroer.ProcessMeasurement(MakeMeasurement({2, 3, 4}, {0, 0, 0}).message());
ASSERT_FALSE(zeroer.Faulted());
- ASSERT_NEAR(1.0, zeroer.ZeroedGyro().x(), 1e-10);
- ASSERT_NEAR(1.0, zeroer.ZeroedGyro().y(), 1e-10);
- ASSERT_NEAR(1.0, zeroer.ZeroedGyro().z(), 1e-10);
+ ASSERT_NEAR(1.0, zeroer.ZeroedGyro().x(), 1e-8);
+ ASSERT_NEAR(1.0, zeroer.ZeroedGyro().y(), 1e-8);
+ ASSERT_NEAR(1.0, zeroer.ZeroedGyro().z(), 1e-8);
ASSERT_EQ(0.0, zeroer.ZeroedAccel().x());
ASSERT_EQ(0.0, zeroer.ZeroedAccel().y());
ASSERT_EQ(0.0, zeroer.ZeroedAccel().z());