sensor_aux.hpp File Reference

Override-on-confidence accuracy boosters for partial sensor configs. More...

#include "LightLib/drive/odometry.hpp"

Go to the source code of this file.

Namespaces
namespace	light
	Initialize once via init(); poll getPose/setPose from any task.
namespace	light::sensor_aux

Functions
void	light::sensor_aux::init (const OdomSensors &sensors)
	Capture the sensor bundle and detect single-wheel modes.
void	light::sensor_aux::tick ()
	Run all four detectors.
float	light::sensor_aux::imuBiasRadPerSec ()
bool	light::sensor_aux::singleVertMode ()
float	light::sensor_aux::singleVertOffset ()
bool	light::sensor_aux::singleHorizMode ()
float	light::sensor_aux::singleHorizOffset ()
bool	light::sensor_aux::slipping ()
int	light::sensor_aux::wallSnapsThisAuton ()
void	light::sensor_aux::resetCounters ()
	Reset diagnostic counters at auton start.

Detailed Description

Override-on-confidence accuracy boosters for partial sensor configs.

Four detectors run from the 100 Hz odom tick after light::update(). Each gates itself on a confidence check and only fires when the gate trips. Trigger conditions:

• IMU bias (ZUPT): robot stationary for AUX_ZUPT_DWELL_MS — sample gyro rate, expose as a bias offset that odometry.cpp subtracts.
• Single-wheel rotation correction: exactly one tracking wheel on an axis — odometry.cpp subtracts the rotational arc component using the wheel's offset and the IMU heading delta.
• Wheel-slip detection: wheel-derived dtheta disagrees with IMU dtheta beyond AUX_SLIP_DEG_PER_100MS — odometry.cpp zeros the wheel-derived translation for the duration of the slip.
• Single-axis wall-snap: a distance sensor reads consistent with a known wall — sensor_aux directly overrides the perpendicular pose axis via light::setPose().

Definition in file sensor_aux.hpp.