Localizer hotfixes - Githubissues

CMU-Robotics-Club / RoboBuggy

99 problems, but a driver ain't one. (Push code, not buggies)

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Localizer hotfixes #489

Closed VivaanBahl closed 6 years ago

VivaanBahl commented 6 years ago

Set of changes that fix the localizer:

Fixed the error of new odometry messages getting divided by 0 -> localizer would output NaN as estimate
Vivaan accidentally confused northing and easting when doing GPS heading calculation

VivaanBahl commented 6 years ago

Do not merge until we have established that this branch is stable under actual data testing (triangle testing)

VivaanBahl commented 6 years ago

@vivek4830 triangle testing has shown us that this localizer needs a while to lock onto it's position, although it could be an artifact of not being able to use encoder values. Once it locks, however, the position estimate is stable. Let's wait to merge this in until we triangle test the whole buggy