Detune some of the encoder noise
Turns out the wheels can spin a lot under defense.
Change-Id: Iefc36330a3813d0af5f24f44cb79dfe80276ff91
diff --git a/frc971/control_loops/drivetrain/hybrid_ekf.h b/frc971/control_loops/drivetrain/hybrid_ekf.h
index 42dc67a..f006bb4 100644
--- a/frc971/control_loops/drivetrain/hybrid_ekf.h
+++ b/frc971/control_loops/drivetrain/hybrid_ekf.h
@@ -484,7 +484,7 @@
dt_config_.make_kf_drivetrain_loop().observer().coefficients().R;
// TODO(james): The multipliers here are hand-waving things that I put in when
// tuning things. I haven't yet tried messing with these values again.
- encoder_noise_ = 0.05 * R_kf_drivetrain(0, 0);
+ encoder_noise_ = 0.5 * R_kf_drivetrain(0, 0);
gyro_noise_ = 0.1 * R_kf_drivetrain(2, 2);
}
diff --git a/y2019/control_loops/drivetrain/localizer_test.cc b/y2019/control_loops/drivetrain/localizer_test.cc
index 281abdc..b53e9d7 100644
--- a/y2019/control_loops/drivetrain/localizer_test.cc
+++ b/y2019/control_loops/drivetrain/localizer_test.cc
@@ -614,7 +614,7 @@
.finished(),
/*noisify=*/true,
/*disturb=*/false,
- /*estimate_tolerance=*/0.25,
+ /*estimate_tolerance=*/0.3,
/*goal_tolerance=*/0.7,
})));