Camera turret oscillates with tags close to end of range of motion?

[auscompgeek]

There are certain poses on the field where the camera seems to want to oscillate. Our current hypothesis is that it wants to look towards its end of range of motion, and is probably switching between different (clusters of) tags that would be visible at each end.

Best illustrated by a video: https://photos.app.goo.gl/7RKPWZnoY5Hn7eT17

(Apologies for no embed, the file is a bit too big and haven't recompressed the video yet.)

[LHowe-a11y]

Is it possible this could be due to us having the tags the wrong way around?

Edit: I did not realise that it wasn't pointing at the tags, damn.

[auscompgeek]

It's totally possible we didn't actually ensure it had localised before running the robot, so this could be a case of the robot thinking it's outside the field.

[LHowe-a11y]

Would that cause it to oscillate between multiple wrong directions, or just look in one stable wrong direction?