commit 3b5de2c5e6347eed6ec4eb2bd0678e31bf63bbe2
author James Kuszmaul <jabukuszmaul@gmail.com> Sat Oct 30 10:47:32 2021 -0700
committer James Kuszmaul <jabukuszmaul@gmail.com> Sat Oct 30 10:47:45 2021 -0700
tree f6d6ad8fc46e40bd65abb61bc10c612ee44b6ac2
parent ef0e0cc8fc40c6c846d786250b6b50a1a6d2b170

Pull down noise on turret camera

Change-Id: I198cc5eacf0e7c442751acb2b430676ab59fadd3
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>

y2020/control_loops/drivetrain/localizer.cc

diff --git a/y2020/control_loops/drivetrain/localizer.cc b/y2020/control_loops/drivetrain/localizer.cc
index 9314aba..d4d5f72 100644
--- a/y2020/control_loops/drivetrain/localizer.cc
+++ b/y2020/control_loops/drivetrain/localizer.cc
@@ -394,6 +394,8 @@
     // are less useful when it comes to actually making shots.
     if (!is_turret) {
       noises *= 3.0;
+    } else {
+      noises /= 5.0;
     }
 
     Eigen::Matrix3f R = Eigen::Matrix3f::Zero();