Increase gyro zeroing threshold for drivetrain
The new gyro is noisier than old ones; increase the thresholds.
Change-Id: I4efb43e9ab5200e061951d851926dae4e3aa1055
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 3413bf6..81f1d8d 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -28,7 +28,7 @@
namespace {
// Maximum variation to allow in the gyro when zeroing.
-constexpr double kMaxYawGyroZeroingRange = 0.08;
+constexpr double kMaxYawGyroZeroingRange = 0.15;
} // namespace
DrivetrainFilters::DrivetrainFilters(const DrivetrainConfig<double> &dt_config,
@@ -570,6 +570,7 @@
builder.add_down_estimator(down_estimator_state_offset);
builder.add_localizer(localizer_offset);
builder.add_zeroing(zeroer_offset);
+ builder.add_filters_ready(filters_.Ready());
builder.add_send_failures(status_failure_counter_.failures());
diff --git a/frc971/control_loops/drivetrain/drivetrain_status.fbs b/frc971/control_loops/drivetrain/drivetrain_status.fbs
index 8e18915..5c21744 100644
--- a/frc971/control_loops/drivetrain/drivetrain_status.fbs
+++ b/frc971/control_loops/drivetrain/drivetrain_status.fbs
@@ -279,6 +279,8 @@
send_failures:uint64 (id: 28);
encoder_faults:Faults (id: 29);
+
+ filters_ready:bool (id: 30);
}
root_type Status;