commit 5a5a78388b237020e31dda1da2a740b30d9e835d
author James Kuszmaul <jabukuszmaul@gmail.com> Wed Mar 16 23:15:08 2022 -0700
committer James Kuszmaul <jabukuszmaul@gmail.com> Fri Mar 25 18:46:27 2022 -0700
tree 4024b644958b8274ad3cdd6579724693eb9ce067
parent c62aeb888303e0afa47df29b2a33de89897dee72

Correctly handle corrupted encoder readings in localizer

Also, tune down image corrections and remap channels in replay.

This does not fix the yaw issues.

Change-Id: I8587148db1bd03d12210f951306cca3e30a2cb84
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>

y2022/localizer/localizer_replay.cc

diff --git a/y2022/localizer/localizer_replay.cc b/y2022/localizer/localizer_replay.cc
index d328948..08479eb 100644
--- a/y2022/localizer/localizer_replay.cc
+++ b/y2022/localizer/localizer_replay.cc
@@ -59,6 +59,13 @@
   // open logfiles
   aos::logger::LogReader reader(logfiles, &config.message());
 
+  reader.RemapLoggedChannel("/localizer",
+                            "frc971.controls.LocalizerStatus");
+  reader.RemapLoggedChannel("/localizer",
+                            "frc971.controls.LocalizerOutput");
+  reader.RemapLoggedChannel("/localizer",
+                            "frc971.controls.LocalizerVisualization");
+
   auto factory =
       std::make_unique<aos::SimulatedEventLoopFactory>(reader.configuration());