| commit | 4b3a0052071d2038950d34177ce6566351b76e58 | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Sun Mar 24 19:19:10 2019 -0700 |
| committer | Austin Schuh <austin.linux@gmail.com> | Sun Mar 24 20:00:03 2019 -0700 |
| tree | f9dbec81e090fca4710d2bbeb9827e2fe03b4a95 | |
| parent | d8a18bb01e2d491b76234edea19213fc975811af [diff] [blame] |
Assume angular uncertainty in auto is good We align the robot really well in auto. So we can assume that the covariance of the heading is small. Change-Id: Ifae45c36612476e21ce50987ccab8aa8846df86f
diff --git a/frc971/control_loops/drivetrain/localizer.q b/frc971/control_loops/drivetrain/localizer.q index 1ae0adc..8fef686 100644 --- a/frc971/control_loops/drivetrain/localizer.q +++ b/frc971/control_loops/drivetrain/localizer.q
@@ -6,6 +6,7 @@ float x; // X position, meters float y; // Y position, meters float theta; // heading, radians + double theta_uncertainty; // Uncertainty in theta. }; queue LocalizerControl localizer_control;