Lower vision kalman filter coeffs (trust vision more)

team4909 · Apr 13, 2024 · 974809d · 974809d
1 parent c511ff8
commit 974809d
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/vision/Vision.java b/src/main/java/frc/robot/vision/Vision.java
@@ -42,8 +42,8 @@
 public class Vision {
 
   private static final double kTargetLogTimeSecs = 0.1;
-  private final double kXYStdDevCoefficient = 0.1;
-  private final double kThetaStdDevCoefficient = 0.1;
+  private final double kXYStdDevCoefficient = 0.005;
+  private final double kThetaStdDevCoefficient = 0.01;
   private final double kFieldBorderMargin = 0.5;
   private final double kZMargin = 0.75;
   // #region Set these to false to disable vision measurements;