commit bcd96fc3f8602b609f0a65b231a3a7af001a46b4
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Mon Oct 12 20:29:32 2020 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Tue Oct 20 20:34:36 2020 -0700
tree 6a477562a2813f7468588ee8f58caa4d6c8f3eb6
parent f3950365eceba67b91e75347f76dff08f33784a7

Respect WasReset() indicator in the drivetrain

At least, pay attention to it for the localizer/down estimator.

Change-Id: I9cf8720c7ad9b2bd1f16b8e65acf824b10f3c7ed

y2020/control_loops/drivetrain/localizer.h

diff --git a/y2020/control_loops/drivetrain/localizer.h b/y2020/control_loops/drivetrain/localizer.h
index 341f304..5dbad02 100644
--- a/y2020/control_loops/drivetrain/localizer.h
+++ b/y2020/control_loops/drivetrain/localizer.h
@@ -51,9 +51,9 @@
               double right_encoder, double gyro_rate,
               const Eigen::Vector3d &accel) override;
 
-  void Reset(aos::monotonic_clock::time_point t, const State &state) {
-    ekf_.ResetInitialState(t, state, ekf_.P());
-  }
+  void Reset(aos::monotonic_clock::time_point t,
+             const frc971::control_loops::drivetrain::HybridEkf<double>::State
+                 &state) override;
 
   void ResetPosition(aos::monotonic_clock::time_point t, double x, double y,
                      double theta, double /*theta_override*/,