Tuning constants from drive practice
Change-Id: I8a820317b693358326bb91a9df3051f481bc68b4
diff --git a/frc971/control_loops/drivetrain/hybrid_ekf.h b/frc971/control_loops/drivetrain/hybrid_ekf.h
index f006bb4..ae92069 100644
--- a/frc971/control_loops/drivetrain/hybrid_ekf.h
+++ b/frc971/control_loops/drivetrain/hybrid_ekf.h
@@ -459,7 +459,7 @@
// since the wheels aren't likely to slip much stopped.
Q_continuous_(kX, kX) = 0.002;
Q_continuous_(kY, kY) = 0.002;
- Q_continuous_(kTheta, kTheta) = 0.0002;
+ Q_continuous_(kTheta, kTheta) = 0.0001;
Q_continuous_(kLeftEncoder, kLeftEncoder) = ::std::pow(0.15, 2.0);
Q_continuous_(kRightEncoder, kRightEncoder) = ::std::pow(0.15, 2.0);
Q_continuous_(kLeftVelocity, kLeftVelocity) = ::std::pow(0.5, 2.0);