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:
- Configure SysID with Pigeon 2 as gyro on correct CAN ID port
- Run SysID linear quasi-static or dynamic test. Observe robot veering off to the left. :)
- SysID reports 'gyro angle delta was 0 degrees'
Expected behavior
Expect non-zero gyro readings.
Screenshots
Desktop (please complete the following information):
- WPILib Version: 2023.2.1 (also tested updated vendordeps at https://github.com/wpilibsuite/sysid/actions/runs/4028733731)
- OS: Windows 10
- Java version 17.0.5
Pigeon 2 Firmware: 26.6.2.2 (latest as of today, released Jan 13)
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