(#108) Add tilt and freefall detection for ignoring bump odometry

[aidnem]

No description provided.

[Copilot]

Pull request overview

Adds gyro-derived tilt and vertical acceleration inputs to detect “bump/freefall” conditions and temporarily shift pose-estimation trust toward vision measurements to avoid odometry spikes.

Changes:

• Expose pitch/roll and Z acceleration from the Pigeon2 gyro IO into GyroIOInputs.
• Detect “bump” conditions in Drive.periodic() using configurable tilt/accel thresholds with a falling-edge debouncer window.
• When a bump is detected, adjust vision measurement standard deviations before feeding them into the pose estimator.

Reviewed changes

Copilot reviewed 6 out of 6 changed files in this pull request and generated 3 comments.

Show a summary per file

File	Description
src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java	Adds pitch/roll/Z-accel status signals and publishes them into GyroIOInputs.
src/main/java/frc/robot/subsystems/drive/GyroIO.java	Extends GyroIOInputs with pitch/roll (radians) and Z acceleration.
src/main/java/frc/robot/subsystems/drive/Drive.java	Implements bump detection and modifies vision weighting during bumps.
src/main/java/frc/robot/constants/drive/DriveConstants.java	Adds tunable constants for bump-detection thresholds and debounce duration.
src/main/deploy/constants/test_drivebase/DriveConstants.json	Wires new bump-related constants into the test constants set.
src/main/deploy/constants/comp/DriveConstants.json	Wires new bump-related constants into the comp constants set.

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[Copilot]

Pull request overview

Copilot reviewed 6 out of 6 changed files in this pull request and generated 1 comment.

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[Copilot]

Pull request overview

Copilot reviewed 6 out of 6 changed files in this pull request and generated 1 comment.

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[aidnem]

I suggest that we set all of these thresholds to be massive numbers that we will never reach to begin testing.

Then, we drive around the field a lot (push the robot pretty hard) and take the maximum numbers that we see for any of our metrics.

Next, drive over the bump to see the kind of numbers that we see there. Perhaps we could drive as gently as possible to see what are the lowest deviances in these values that we will ever see while still going over the bump.

Hopefully, there will be a clear difference between the most gentle bump driving and the most aggressive flat ground driving. We can split that difference somewhere (probably bias toward the low end so that if we get tipped up by heavy defense, these protections kick in as well) and then test whether our pose estimate is more resilient to driving over the bump very aggressively.

[godmar]

Please clarify these two items

[godmar]

What were the update frequencies for pitch etc. prior to this change?

[aidnem]

The signals weren't used so they were run at 4 hz I guess.

[aidnem]

This seemed to make vision worse.