InterstellarDrift

Unfortunately I don't have much information on that at the moment, as so far all of my testing has been done in simulation and for some reason I can't rotate...

> I'd prefer to internalize this though as the PhotonPoseEstimator has grown a lot with different strategies which can lead to it being confusing. I definitely agree that moving the...

> How does this perform when the robot is rotating? A major problem with MegaTag2 is that you have no idea when the gyro reading is from without the timestamp,...

> The other thing to note is that this still only uses a single tag. How does using the multitag pose but with the robot yaw perform? I haven't tested...

No latency compensation, 2 radians per second [Screencast from 05-13-2024 11:27:45 PM.webm](https://github.com/PhotonVision/photonvision/assets/78432610/6705139e-9322-4668-9740-5a8e3ffc37c1)

[FiveRadians_WithCompensation.webm](https://github.com/PhotonVision/photonvision/assets/78432610/4ed96673-a342-4b97-bc96-479b62efb323) [TwoRadians_WithCompensation.webm](https://github.com/PhotonVision/photonvision/assets/78432610/e6ffea2f-523b-4c82-b671-dd624b89d2f1)

This is what it looks like when it's stationary:  

PhotonVision devs, with Limelight's release of MegaTag2, is this being considered? I am currently working on adding this functionality to PhotonVision in my fork, and hope to open a pull...