Respect WasReset() indicator in the drivetrain
At least, pay attention to it for the localizer/down estimator.
Change-Id: I9cf8720c7ad9b2bd1f16b8e65acf824b10f3c7ed
diff --git a/frc971/control_loops/drivetrain/hybrid_ekf.h b/frc971/control_loops/drivetrain/hybrid_ekf.h
index 4fd2d43..61408aa 100644
--- a/frc971/control_loops/drivetrain/hybrid_ekf.h
+++ b/frc971/control_loops/drivetrain/hybrid_ekf.h
@@ -703,7 +703,7 @@
// Pull velocity derivatives from velocity matrices.
// Note that this looks really awkward (doesn't use
// Eigen blocks) because someone decided that the full
- // drivetrain Kalman Filter should half a weird convention.
+ // drivetrain Kalman Filter should have a weird convention.
// TODO(james): Support shifting drivetrains with changing A_continuous
const auto &vel_coefs = velocity_drivetrain_coefficients_;
A_continuous_(kLeftVelocity, kLeftVelocity) = vel_coefs.A_continuous(0, 0);