commit eb718638effd527c38ad89d4d3646d9eb054f98b
author Austin Schuh <austin.linux@gmail.com> Fri Oct 22 22:32:57 2021 -0700
committer James Kuszmaul <jabukuszmaul@gmail.com> Sat Oct 23 13:09:40 2021 -0700
tree c4bb6783d5ca95fc3f0a6cf633f1c9e6d4ebec2f
parent 01c590d13ecda7b207f5c97caf955cdfcb3657d2

Trust base mounted cameras less

We care less about them, and the calibration is worse.

Change-Id: I8c5298be06372addb8f03b0555070e0c2dd5a453
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2020/control_loops/drivetrain/localizer_test.cc

diff --git a/y2020/control_loops/drivetrain/localizer_test.cc b/y2020/control_loops/drivetrain/localizer_test.cc
index aac8f75..8ccb55c 100644
--- a/y2020/control_loops/drivetrain/localizer_test.cc
+++ b/y2020/control_loops/drivetrain/localizer_test.cc
@@ -521,7 +521,7 @@
   // Give the filters enough time to converge.
   RunFor(chrono::seconds(10));
   VerifyNearGoal(5e-2);
-  EXPECT_TRUE(VerifyEstimatorAccurate(4e-2));
+  EXPECT_TRUE(VerifyEstimatorAccurate(0.1));
 }
 
 // Tests that we are able to handle a constant, non-zero turret angle.
@@ -592,7 +592,7 @@
 
   RunFor(chrono::seconds(10));
   VerifyNearGoal(5e-3);
-  EXPECT_TRUE(VerifyEstimatorAccurate(1e-2));
+  EXPECT_TRUE(VerifyEstimatorAccurate(5e-2));
 }
 
 // Tests that we don't blow up if we stop getting updates for an extended period