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Add note regarding replacing heading with imu readings #46

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NoahBres opened this issue Nov 25, 2022 · 0 comments

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NoahBres commented Nov 25, 2022

You want something like https://gist.github.com/henopied/4f1a8bf2f287eaa6ac52c549e034b672 to prevent the localizer from eating encoder readings. Setting the pose estimate resets the localizer, including the last encoder positions. It needs an extra iteration to set those positions and start computing deltas again.

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