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Detect lost target and stop gating innovation #173

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Detect lost target and stop gating innovation #173

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9 changes: 7 additions & 2 deletions components/vision.py
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Original file line number Diff line number Diff line change
Expand Up @@ -78,6 +78,7 @@ def __init__(self) -> None:
self.target_yaw = 0.0
self.last_latency = 0.0
self.timestamp = 0.0
self.discarded_count = 0

def setup(self) -> None:
self.field_obj = self.field.getObject("vision_pose")
Expand Down Expand Up @@ -162,8 +163,12 @@ def execute(self) -> None:
self.chassis.estimator.getEstimatedPosition().translation()
)
# Gate on innovation
if self.gate_innovation and innovation > 2.0:
return
if self.gate_innovation and innovation > 3.0:
self.discarded_count += 1
if self.discarded_count < 100:
return
else:
self.discarded_count = 0

if self.distance < 5.0:
std_dev = 0.3 * self.max_std_dev
Expand Down