From 6d2fa0f1d29f8ff3a8a9a0c563bdd088d0e67639 Mon Sep 17 00:00:00 2001 From: superpenguin612 <74030080+superpenguin612@users.noreply.github.com> Date: Sun, 25 Feb 2024 08:44:20 -0500 Subject: [PATCH] bump max distance on apriltags to 6ft --- .../com/techhounds/houndutil/houndlib/AprilTagPhotonCamera.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/techhounds/houndutil/houndlib/AprilTagPhotonCamera.java b/src/main/java/com/techhounds/houndutil/houndlib/AprilTagPhotonCamera.java index 2bae54d..7d876f9 100644 --- a/src/main/java/com/techhounds/houndutil/houndlib/AprilTagPhotonCamera.java +++ b/src/main/java/com/techhounds/houndutil/houndlib/AprilTagPhotonCamera.java @@ -129,7 +129,7 @@ public Matrix getEstimationStdDevs(Pose2d estimatedPose, Matrix return estStdDevs; avgDist /= numTags; - if (avgDist > 4) + if (avgDist > 6) estStdDevs = VecBuilder.fill(Double.MAX_VALUE, Double.MAX_VALUE, Double.MAX_VALUE); else { if (numTags > 1)