commit fd254bb9dcfa0eb67397e5662fea745fada58103
author James Kuszmaul <jabukuszmaul@gmail.com> Sun Mar 13 21:08:15 2022 -0700
committer James Kuszmaul <jabukuszmaul@gmail.com> Sun Mar 13 21:08:44 2022 -0700
tree 2086e8f672c8e0777d07dbbaaa44889899432d7d
parent 73da5539a5798554e73539566fd62f086d08d0f8

Actually use non-latching zeroer in localizer

Change-Id: Ie6dd9daaefaf1bfe7fe4b41feccfd9fd106fd72e
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>

y2022/localizer/localizer.cc

diff --git a/y2022/localizer/localizer.cc b/y2022/localizer/localizer.cc
index 1971312..e75c014 100644
--- a/y2022/localizer/localizer.cc
+++ b/y2022/localizer/localizer.cc
@@ -882,6 +882,7 @@
           event_loop_
               ->MakeFetcher<y2022::control_loops::superstructure::Status>(
                   "/superstructure")),
+      zeroer_(zeroing::ImuZeroer::FaultBehavior::kTemporary),
       left_encoder_(-DrivetrainWrapPeriod() / 2.0, DrivetrainWrapPeriod()),
       right_encoder_(-DrivetrainWrapPeriod() / 2.0, DrivetrainWrapPeriod()) {
   event_loop_->MakeWatcher(