commit 5f27d8b553f20f8e617b05db965365657e4d3081
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Thu Mar 17 09:08:26 2022 -0700
committer James Kuszmaul <jabukuszmaul@gmail.com> Fri Mar 25 18:46:43 2022 -0700
tree 28768c04b0b0d6b452c848df70bf6bc8b0cdcfbb
parent 5a5a78388b237020e31dda1da2a740b30d9e835d

Better handle missed IMU messages in localizer

Increase the max dt to better handle dropped messages.

Also, more explicitly track the reasons why different messages were
dropped. The current main culprits seem to be (a) messages missing
entirely and (b) Pi <-> PICO checksum failures.

Change-Id: I882b29a304fb0a673722d9dc37184a87e0a27a0d
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2022/localizer/localizer_plotter.ts

diff --git a/y2022/localizer/localizer_plotter.ts b/y2022/localizer/localizer_plotter.ts
index 239d2cb..bcd8894 100644
--- a/y2022/localizer/localizer_plotter.ts
+++ b/y2022/localizer/localizer_plotter.ts
@@ -268,10 +268,34 @@
 
   const timingPlot =
       aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
-  timingPlot.plot.getAxisLabels().setTitle('Timing');
+  timingPlot.plot.getAxisLabels().setTitle('Fault Counting');
   timingPlot.plot.getAxisLabels().setXLabel(TIME);
 
   timingPlot.addMessageLine(localizer, ['model_based', 'clock_resets'])
       .setColor(GREEN)
       .setDrawLine(false);
+
+  timingPlot
+      .addMessageLine(
+          localizer, ['imu_failures', 'imu_to_pico_checksum_mismatch'])
+      .setColor(BLUE)
+      .setDrawLine(false);
+
+  timingPlot
+      .addMessageLine(
+          localizer, ['imu_failures', 'pico_to_pi_checksum_mismatch'])
+      .setColor(RED)
+      .setDrawLine(false);
+
+  timingPlot
+      .addMessageLine(
+          localizer, ['imu_failures', 'other_zeroing_faults'])
+      .setColor(CYAN)
+      .setDrawLine(false);
+
+  timingPlot
+      .addMessageLine(
+          localizer, ['imu_failures', 'missed_messages'])
+      .setColor(PINK)
+      .setDrawLine(false);
 }