Pose estimator doesn't work after vision is lost

[varshil3009]

when you are taking the value from the April tag the getState().pose gets updated but once the april tag is not in the view , the robot shifts to the odometry (0,0,0). it doesn't keep account of the last pose at the same time, even after moving the robot the odometry of the robot is (0,0,0) while it works perfectly when the vision or the april tag is detected

[bhall-ctre]

Make sure you're not calling addVisionMeasurement() when the vision pose data is invalid, otherwise the pose estimator will constantly try to correct for that invalid vision pose. We just use the WPILib SwerveDrivePoseEstimator implementation, so everything in their Pose Estimators documentation applies.

Note that the very basic vision code in our SwerveWithPathPlanner and SwerveWithChoreo examples may not be sufficient for use on a real robot; they are simply demonstrations of basic API usage. With that said, we have just updated the examples to include some simple validation checking on the vision pose.