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_test.cc

diff --git a/frc971/zeroing/imu_zeroer_test.cc b/frc971/zeroing/imu_zeroer_test.cc
index b984b1a..0a68541 100644
--- a/frc971/zeroing/imu_zeroer_test.cc
+++ b/frc971/zeroing/imu_zeroer_test.cc
@@ -163,7 +163,7 @@
       << "We should not fault until we complete a second cycle of zeroing.";
   for (size_t ii = 0; ii < kMinSamplesToZero; ++ii) {
     zeroer.InsertAndProcessMeasurement(
-        MakeMeasurement({0.01, 0.05, 0.03}, {4, 5, 6}).message());
+        MakeMeasurement({0.01, -0.05, 0.03}, {4, 5, 6}).message());
   }
   ASSERT_TRUE(zeroer.Faulted());
   ASSERT_FALSE(zeroer.Zeroed());