commit 86116c2f36a796540424acf44626f70b8edea844
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Fri Mar 15 22:50:34 2024 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Mar 16 12:04:33 2024 -0700
tree 818a6ff5a38a78bec8c33bf6c3fc61e7f070a52d
parent 0080ded2d70d8068a6a979f379c62262b8730537

Various y2024 localizer updates

* Make use of ignore_tags list to deweight/ignore some april tags.
* Pull in y2022/3 corrections style where we use implied robot x/y/theta
  for corrections rather than heading/distance/skew (this may not
  be necessary any more, as I believe the original reasons
  for switching are largely resolved).
* Fix up the replay binary
* Various tunings.
* Mitigation for Orin timing issues.

Change-Id: I766a0d0046125cece4e64e086f7f23a4c930d9f8
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2024/localizer/BUILD

diff --git a/y2024/localizer/BUILD b/y2024/localizer/BUILD
index caec284..5e2581a 100644
--- a/y2024/localizer/BUILD
+++ b/y2024/localizer/BUILD
@@ -25,6 +25,7 @@
     deps = [
         "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
         "//frc971/imu_reader:imu_failures_fbs",
+        "//frc971/math:matrix_fbs",
     ],
 )
 
@@ -35,6 +36,7 @@
     deps = [
         "//frc971/control_loops/drivetrain:drivetrain_status_ts_fbs",
         "//frc971/imu_reader:imu_failures_ts_fbs",
+        "//frc971/math:matrix_ts_fbs",
     ],
 )
 
@@ -77,6 +79,7 @@
         "//frc971/control_loops/drivetrain/localization:localizer_output_fbs",
         "//frc971/control_loops/drivetrain/localization:utils",
         "//frc971/imu_reader:imu_watcher",
+        "//frc971/math:flatbuffers_matrix",
         "//frc971/vision:target_map_fbs",
         "//frc971/vision:target_map_utils",
         "//y2024:constants",
@@ -133,6 +136,7 @@
     srcs = ["localizer_replay.cc"],
     data = [
         "//y2024:aos_config",
+        "//y2024/constants:constants.json",
     ],
     target_compatible_with = ["@platforms//os:linux"],
     deps = [
@@ -144,6 +148,9 @@
         "//aos/events/logging:log_reader",
         "//aos/events/logging:log_writer",
         "//aos/util:simulation_logger",
+        "//frc971/constants:constants_sender_lib",
+        "//frc971/imu_fdcan:dual_imu_blender_lib",
+        "//y2024/constants:simulated_constants_sender",
         "//y2024/control_loops/drivetrain:drivetrain_base",
     ],
 )