Adding field plot for 2022
Adds some bare minimum status information, mostly focused on getting the
camera readings showing on the screen.
Note that this code is largely borrowed from the 2020 field viewing
code.
TODO: Add debug information for superstructure state machine/catapult.
Change-Id: I896a3def0d8d8b0ef2fb132086eaba1ba8ec0c61
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2022/localizer/localizer_output.fbs b/y2022/localizer/localizer_output.fbs
index 03abf19..b07278b 100644
--- a/y2022/localizer/localizer_output.fbs
+++ b/y2022/localizer/localizer_output.fbs
@@ -21,6 +21,9 @@
theta:double (id: 3);
// Current estimate of the robot's 3-D rotation.
orientation:Quaternion (id: 4);
+ // Whether we have zeroed the IMU (may go false if we observe a fault with the
+ // IMU).
+ zeroed:bool (id: 5);
}
root_type LocalizerOutput;