commit 6caee21d3f55231ccdc223e8c45b6921f67f453b
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat May 04 13:46:23 2024 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat May 04 13:46:23 2024 -0700
tree 9bae4bc11bbf41903fdc5b8e187204852c528177
parent 97772349acc6e56e1c3e007625a8e76c28373152

Tune y2024 localizer for improved shuttle shot localization

Change-Id: I9fc40d1f6dbe201d58b239125390a7d25c4c407a
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2024/localizer/localizer.cc

diff --git a/y2024/localizer/localizer.cc b/y2024/localizer/localizer.cc
index 86ae457..d73d171 100644
--- a/y2024/localizer/localizer.cc
+++ b/y2024/localizer/localizer.cc
@@ -420,9 +420,13 @@
       return;
     } else {
       if (utils_.MaybeInAutonomous()) {
-        april_tag_noise_scalar = 2.0;
+        april_tag_noise_scalar = 1.5;
       } else {
-        april_tag_noise_scalar = 10.0;
+        if (target_id == 13 || target_id == 14) {
+          april_tag_noise_scalar = 5.0;
+        } else {
+          april_tag_noise_scalar = 5.0;
+        }
       }
     }
   }