commit 6d6e13067dcc1627737a968c7168e46f0ecb21b8
author James Kuszmaul <jabukuszmaul@gmail.com> Sat Mar 12 15:22:48 2022 -0800
committer James Kuszmaul <jabukuszmaul@gmail.com> Sun Mar 13 17:19:52 2022 -0700
tree 6a7499cc49ba48c1dfe2ec4d8be343ea1510de6f
parent 5f0d110cf8df4e04fb3699a0a50c9fd4715b6ec6

Don't latch IMU faults in 2022 localizer

We get occasional checksum failures. Don't brick the localizer because
of that.

Change-Id: I67fa55264ac56127b7a8f150db35bf7747af7468
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>

y2022/localizer/localizer.h

diff --git a/y2022/localizer/localizer.h b/y2022/localizer/localizer.h
index e9a61e1..be14b45 100644
--- a/y2022/localizer/localizer.h
+++ b/y2022/localizer/localizer.h
@@ -321,6 +321,7 @@
   std::optional<aos::monotonic_clock::duration> ClockOffset(
       std::string_view pi);
   aos::EventLoop *event_loop_;
+  const control_loops::drivetrain::DrivetrainConfig<double> &dt_config_;
   ModelBasedLocalizer model_based_;
   aos::Sender<LocalizerStatus> status_sender_;
   aos::Sender<LocalizerOutput> output_sender_;