Adding Vision Measurement to Swerve Pose Estimator with TunerX generated swerve code

Technical Java
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I think I am doing this right, but I am trying to add vision poses to the swerve pose estimator that is in the generated swerve code for TunerX generated swerve code.

I believe I just need to call addVisionMeasurement( new vision pose 2d, total latency of pose from limelight);

Can then tune how much it trusts that based on adjusting the standard deviation of the vision measurements.

I would think that if the vision pose and robot pose differ that if you left the robot sit with a valid target that these poses should slowly come together over time correct? I am also assuming the swerve code calls and update of the poseEstimator every loop?

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