commit ad2f8db8d8597e1f145c7162fbaf83044155a3fa
author James Kuszmaul <jabukuszmaul@gmail.com> Sun Oct 24 17:02:57 2021 -0700
committer James Kuszmaul <jabukuszmaul@gmail.com> Sun Oct 24 17:02:57 2021 -0700
tree acf05287fb63817b6c706f708d31b0927dba841e
parent b696b5ffe6045d427e2a249a7c12a751514b7f89

Loosen gyro zeroing fault thresholds

Change-Id: I915ce4234bbb5f9865cd0c7f4c5a2d490baeb68b
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>

frc971/zeroing/imu_zeroer.h

diff --git a/frc971/zeroing/imu_zeroer.h b/frc971/zeroing/imu_zeroer.h
index 2473a66..f3af9c5 100644
--- a/frc971/zeroing/imu_zeroer.h
+++ b/frc971/zeroing/imu_zeroer.h
@@ -47,7 +47,7 @@
   static constexpr double kAccelMaxVariation = 0.05;    // g's
   // If we ever are able to rezero and get a zero that is more than
   // kGyroFaultVariation away from the original zeroing, fault.
-  static constexpr double kGyroFaultVariation = 0.005;  // rad / sec
+  static constexpr double kGyroFaultVariation = 0.05;  // rad / sec
 
   bool GyroZeroReady() const;
   bool AccelZeroReady() const;