wpilibsuite/sysid

SysID not working with Pigeon 2 gyro

Closed this issue · 3 comments

Describe the bug
SysID is reporting a gyro delta angle of 0 degrees even though the robot is obviously turning during SysID path. CAN ID of Pigeon 2 gyro is configured correctly. Phoenix Tuner and team robot code can read gyro on this CAN ID.

To Reproduce
Steps to reproduce the behavior:

  1. Configure SysID with Pigeon 2 as gyro on correct CAN ID port
  2. Run SysID linear quasi-static or dynamic test. Observe robot veering off to the left. :)
  3. SysID reports 'gyro angle delta was 0 degrees'

Expected behavior
Expect non-zero gyro readings.

Screenshots
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Desktop (please complete the following information):

Additional context
Response in CD thread indicates multiple teams are seeing this: https://www.chiefdelphi.com/t/sysid-not-working-with-pigeons/424879

We were having this issue and by running the canivore build from PR455 (#455) we were able to get values from the pigeon2. (6xfalcon WCD, 2x cancoder, 1x pigeon2, phoenix v5).

We were able to get the Pigeon2 gyro working with SysID with the build below, verifying what was suggested in this thread

https://github.com/wpilibsuite/sysid/actions/runs/3978139611

Fixed by #455.