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Vision Constant #130

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Vision Constant #130

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4 changes: 3 additions & 1 deletion src/main/java/frc/robot/subsystems/swervedrive/vision/estimation/PoseManager.java
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
import frc.robot.subsystems.swervedrive.vision.truster.PoseDeviation;
import frc.robot.subsystems.swervedrive.vision.truster.VisionMeasurement;
import frc.robot.subsystems.swervedrive.vision.truster.VisionTruster;
import frc.robot.utils.logging.LoggedTunableNumber;
import org.littletonrobotics.junction.Logger;

import java.util.LinkedList;
Expand All @@ -29,6 +30,7 @@ public class PoseManager {
protected final Queue<VisionMeasurement> visionMeasurementQueue = new LinkedList<>();
private final SwerveSubsystem drivebase;
protected final VisionTruster visionTruster;
private final LoggedTunableNumber visionSmoother = new LoggedTunableNumber("SmoothVision", 1);

public PoseManager(
PoseDeviation PoseDeviation,
Expand Down Expand Up @@ -92,7 +94,7 @@ protected Vector<N3> getVisionSTD(VisionMeasurement measurement) {
}

if (Constants.USE_CAMERA_APRILTAG_STD_DEV) {
return VecBuilder.fill(StdDev, StdDev, StdDev);
return VecBuilder.fill(StdDev*visionSmoother.get(), StdDev*visionSmoother.get(), StdDev);
}
return visionTruster.calculateTrust(measurement);
}
Expand Down