Make drivetrain_test_lib handle IMU transforms
This also updates the 2020 imu transform to better match the 2020
drivetrain. I haven't actually checked the yaw orientation of the IMU
though.
Change-Id: Ib036705269dfc467a60714c456751a6cfca8a67e
diff --git a/frc971/analysis/plot_configs/localizer.pb b/frc971/analysis/plot_configs/localizer.pb
index f81ec89..644b516 100644
--- a/frc971/analysis/plot_configs/localizer.pb
+++ b/frc971/analysis/plot_configs/localizer.pb
@@ -23,6 +23,16 @@
axes {
line {
y_signal {
+ channel: "DrivetrainStatus"
+ field: "trajectory_logging.y"
+ }
+ x_signal {
+ channel: "DrivetrainStatus"
+ field: "trajectory_logging.x"
+ }
+ }
+ line {
+ y_signal {
channel: "DrivetrainTruthStatus"
field: "y"
}
@@ -31,7 +41,6 @@
field: "x"
}
}
- share_x_axis: false
line {
y_signal {
channel: "DrivetrainStatus"