So I’m adding vision measurements and I’m not noticing any change in the output of the SwerveDrive Pose estimator.
I’m using the updateWith Time and addVision Measurement. Did something change in the last update that I’m not implementing.
Make sure your timestamp is right… we were subtracting latency (in miliseconds) from the FGTPA timer (which is in seconds) and therefore the readings were being pushed way back and seeing no update. Posting that section of code may also help
Done. I figured it out.
What was the issue?
Nothing crazy. Just didn’t notice it because of the way the latency and buffer worked.
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