While working on some other changes, I realized that the DBSExample world is configured to use a coordinate system that's not the default. This leads to incorrect assumptions when developing and makes any axis choices non-portable to people using the default setup. Most notably, the gyro code assumes +Z is up. Prior to this PR, this was not the case. Thus the gyro was returning incorrect values (this may have contributed to the instability we encountered in our swerve drive simulation).
This PR updates the code to use the default coordinate system, resolving the above concerns.
While working on some other changes, I realized that the DBSExample world is configured to use a coordinate system that's not the default. This leads to incorrect assumptions when developing and makes any axis choices non-portable to people using the default setup. Most notably, the gyro code assumes +Z is up. Prior to this PR, this was not the case. Thus the gyro was returning incorrect values (this may have contributed to the instability we encountered in our swerve drive simulation).
This PR updates the code to use the default coordinate system, resolving the above concerns.