Convert limelight timestamp to the correct time unit

Mechanical-Advantage · Dec 19, 2024 · bac2037 · bac2037
1 parent fd77d49
commit bac2037
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/template_projects/vision/src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java b/template_projects/vision/src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java
@@ -84,7 +84,7 @@ public void updateInputs(VisionIOInputs inputs) {
       poseObservations.add(
           new PoseObservation(
               // Timestamp, based on server timestamp of publish and latency
-              rawSample.timestamp * 1.0e-9 - rawSample.value[7] * 1.0e-3,
+              rawSample.timestamp * 1.0e-6 - rawSample.value[7] * 1.0e-3,
 
               // 3D pose estimate
               parsePose(rawSample.value),
@@ -109,7 +109,7 @@ public void updateInputs(VisionIOInputs inputs) {
       poseObservations.add(
           new PoseObservation(
               // Timestamp, based on server timestamp of publish and latency
-              rawSample.timestamp * 1.0e-9 - rawSample.value[7] * 1.0e-3,
+              rawSample.timestamp * 1.0e-6 - rawSample.value[7] * 1.0e-3,
 
               // 3D pose estimate
               parsePose(rawSample.value),