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Auto-publish: training content update 2026-05-15 11:26:33

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2026-05-15 11:26:33 +00:00
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training/modules/megatag.md
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@@ -29,12 +29,8 @@ MegaTag is a **Limelight-specific** robot localization system that uses AprilTag
## MegaTag vs. MegaTag2
| Feature | MegaTag 1 | MegaTag 2 |
|---------|-----------|-----------|
| Data source | AprilTag vision only | AprilTag + IMU fusion |
| Accuracy | Good when tags visible | Better — gyro corrects drift |
| Drift | Accumulates over time | Reduced by gyro correction |
| Tag visibility required | Yes | Yes (but less sensitive) |
- **MegaTag 1** — AprilTag vision only. Good when tags visible, accumulates drift over time.
- **MegaTag 2** — AprilTag + IMU fusion. Gyro corrects drift, less sensitive to partial tag visibility.
**MegaTag 2** fuses robot orientation data from the IMU with vision pose. This means even if vision is slightly noisy or a tag is partially visible, the gyro steadies the reading.
@@ -91,13 +87,11 @@ This is critical for:
## Common Issues and Troubleshooting
| Problem | Likely Cause | Fix |
|---------|--------------|-----|
| Pose always offset in same direction | Camera calibration wrong | Check camera tilt, height, direction |
| Pose jumps when tag visible | Vision trusting single reading | Add filtering, check timing |
| No pose when tags visible | Camera not processing tags | Check PhotonVision pipeline |
| Odometry drifts despite vision | Vision not being added to estimator | Check `addVisionMeasurement` call |
| Gyro disagrees with vision | Gyro calibration issue | Re-calibrate gyro, check wiring |
- **Pose always offset in same direction** → Camera calibration wrong. Check camera tilt, height, direction.
- **Pose jumps when tag visible** → Vision trusting single reading. Add filtering, check timing.
- **No pose when tags visible** → Camera not processing tags. Check PhotonVision pipeline.
- **Odometry drifts despite vision** → Vision not being added to estimator. Check `addVisionMeasurement` call.
- **Gyro disagrees with vision** → Gyro calibration issue. Re-calibrate gyro, check wiring.
## Connection to Training
@@ -112,7 +106,7 @@ The MegaTag concept (vision + gyro fusion) is the same regardless of whether you
## Related
- [[photonvision]] — Team 2890's vision system
- [[swere-modules]] — MK4i with encoders for odometry
- [[swerve-modules]] — MK4i with encoders for odometry
- [[systemcore]] — upcoming controller with improved processing
---