We generated swerve drive code using the generator in Tuner X, and are now adding our vision code. We can access the odometry object’s setVisionMeasurementStdDevs method to change the vision deviations as needed, but there is no equivalent for the state standard deviations.
The odometry object is created using default state deviations in CTRE’s SwerveDriveTrainClass. So right now we can’t change from the default values.
My questions are -
Are teams finding any need to change those default values?
If so, do we have any options other than copying in and customizing the code for SwerveDriveTrainClass to?