From 05a95879bc354b2f28272e15087fc63add822779 Mon Sep 17 00:00:00 2001 From: Kyle Coble Date: Mon, 22 Apr 2024 13:11:22 -0400 Subject: [PATCH 1/2] Add wheel odometry timeout for filter divergence --- protos/farm_ng/filter/filter.proto | 2 ++ 1 file changed, 2 insertions(+) diff --git a/protos/farm_ng/filter/filter.proto b/protos/farm_ng/filter/filter.proto index 45838e12..12a54b07 100644 --- a/protos/farm_ng/filter/filter.proto +++ b/protos/farm_ng/filter/filter.proto @@ -35,6 +35,8 @@ enum DivergenceCriteria { INVALID_GPS_MESSAGE = 8; NO_GPS_MEASUREMENTS = 9; GPS_MEASUREMENTS_DELAYED = 10; + NO_ODOMETRY_MEASUREMENTS = 11; + ODOMETRY_MEASUREMENTS_DELAYED = 12; OTHER_DIVERGENCE_REASON = 99; } From 5d011e33370edaa1ccba9f3759382949d1ee5f72 Mon Sep 17 00:00:00 2001 From: Kyle Coble Date: Mon, 22 Apr 2024 14:28:38 -0400 Subject: [PATCH 2/2] ODOMETRY -> WHEEL_ODOMETRY --- protos/farm_ng/filter/filter.proto | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/protos/farm_ng/filter/filter.proto b/protos/farm_ng/filter/filter.proto index 12a54b07..33850578 100644 --- a/protos/farm_ng/filter/filter.proto +++ b/protos/farm_ng/filter/filter.proto @@ -35,8 +35,8 @@ enum DivergenceCriteria { INVALID_GPS_MESSAGE = 8; NO_GPS_MEASUREMENTS = 9; GPS_MEASUREMENTS_DELAYED = 10; - NO_ODOMETRY_MEASUREMENTS = 11; - ODOMETRY_MEASUREMENTS_DELAYED = 12; + NO_WHEEL_ODOMETRY_MEASUREMENTS = 11; + WHEEL_ODOMETRY_MEASUREMENTS_DELAYED = 12; OTHER_DIVERGENCE_REASON = 99; }