From f499e4fb50d97b49b63399eb20821f3dc18e77c5 Mon Sep 17 00:00:00 2001
From: Jade <spacey-sooty@proton.me>
Date: Mon, 3 Nov 2025 02:32:39 +0800
Subject: [PATCH] [NFC] Invert AprilTag family default (#2124)

## Description

Switch default tag family used in AprilTag pipeline. We already
functionally changed the default in
https://github.com/PhotonVision/photonvision/pull/1333 but since 2024
FIRST appears to have been using 36h11 so switching here seems to make
sense as well.

## Meta

Merge checklist:
- [ ] Pull Request title is [short, imperative
summary](https://cbea.ms/git-commit/) of proposed changes
- [x] The description documents the _what_ and _why_
- [x] If this PR changes behavior or adds a feature, user documentation
is updated
- [ ] If this PR touches photon-serde, all messages have been
regenerated and hashes have not changed unexpectedly
- [ ] If this PR touches configuration, this is backwards compatible
with settings back to v2025.3.2
- [ ] If this PR touches pipeline settings or anything related to data
exchange, the frontend typing is updated
- [ ] If this PR addresses a bug, a regression test for it is added

---------

Signed-off-by: Jade Turner <spacey-sooty@proton.me>
---
 .../vision/pipeline/AprilTagPipeline.java          | 14 +++++++-------
 .../photonvision/vision/pipeline/AprilTagTest.java |  1 -
 2 files changed, 7 insertions(+), 8 deletions(-)

diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
index 3e98f7e9e..87329ebf2 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
@@ -73,13 +73,13 @@ public class AprilTagPipeline extends CVPipeline<CVPipelineResult, AprilTagPipel
         settings.threads = Math.max(1, settings.threads);
 
         // for now, hard code tag width based on enum value
-        // 2023/other: best guess is 6in
-        double tagWidth = Units.inchesToMeters(6);
-        TargetModel tagModel = TargetModel.kAprilTag16h5;
-        if (settings.tagFamily == AprilTagFamily.kTag36h11) {
-            // 2024 tag, 6.5in
-            tagWidth = Units.inchesToMeters(6.5);
-            tagModel = TargetModel.kAprilTag36h11;
+        // From 2024 best guess is 6.5
+        double tagWidth = Units.inchesToMeters(6.5);
+        TargetModel tagModel = TargetModel.kAprilTag36h11;
+        if (settings.tagFamily == AprilTagFamily.kTag16h5) {
+            // 2023 tag, 6in
+            tagWidth = Units.inchesToMeters(6);
+            tagModel = TargetModel.kAprilTag16h5;
         }
 
         var config = new AprilTagDetector.Config();
diff --git a/photon-core/src/test/java/org/photonvision/vision/pipeline/AprilTagTest.java b/photon-core/src/test/java/org/photonvision/vision/pipeline/AprilTagTest.java
index 7a1fa9648..14cdf1767 100644
--- a/photon-core/src/test/java/org/photonvision/vision/pipeline/AprilTagTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/AprilTagTest.java
@@ -109,7 +109,6 @@ public class AprilTagTest {
         pipeline.getSettings().solvePNPEnabled = true;
         pipeline.getSettings().cornerDetectionAccuracyPercentage = 4;
         pipeline.getSettings().cornerDetectionUseConvexHulls = true;
-        pipeline.getSettings().targetModel = TargetModel.kAprilTag6p5in_36h11;
         pipeline.getSettings().tagFamily = AprilTagFamily.kTag16h5;
 
         var frameProvider =