Merge branch 'upstream/main' into pyIterativeAndTimedRobot

Author: MikeStitt

.github/workflows/dist.yml

@@ -98,26 +98,11 @@ jobs:
       env:
         OS: ${{ runner.os }}
       run: |
-        if [[ "$OS" != "Linux" ]]; then
-          echo "VARIANT=sccache" >> $GITHUB_OUTPUT
-        else
-          echo "VARIANT=ccache" >> $GITHUB_OUTPUT
-          echo "MAX_SIZE=500M" >> $GITHUB_OUTPUT
-        fi
         if [[ "$OS" == "macOS" ]]; then
           echo "SCCACHE_CACHE_MULTIARCH=1" >> $GITHUB_ENV
         fi
 
-    - name: Setup ccache
-      if: steps.ccache.outputs.variant == 'ccache'
-      uses: hendrikmuhs/[email protected]
-      with:
-          key: ${{ matrix.os }}-${{ matrix.python_version }}
-          variant: ccache
-          max-size: ${{ steps.ccache.outputs.max_size }}
-
     - name: Setup sccache
-      if: steps.ccache.outputs.variant == 'sccache'
       uses: mozilla-actions/[email protected]
 
     - name: Install deps
@@ -136,7 +121,7 @@ jobs:
         ./rdev.sh ci run
       env:
         RPYBUILD_STRIP_LIBPYTHON: "1"
-        RPYBUILD_CC_LAUNCHER: ${{ steps.ccache.outputs.variant }}
+        RPYBUILD_CC_LAUNCHER: sccache
         SCCACHE_WEBDAV_USERNAME: ${{ secrets.WPI_ARTIFACTORY_USERNAME }}
         SCCACHE_WEBDAV_PASSWORD: ${{ secrets.WPI_ARTIFACTORY_TOKEN }}
 

subprojects/robotpy-wpimath/gen/controls/ExtendedKalmanFilter.yml

@@ -65,6 +65,13 @@ templates:
     - 2
     - 1
     - 1 
+  ExtendedKalmanFilter_2_1_2:
+    qualname: frc::ExtendedKalmanFilter
+    subpackage: estimator
+    params:
+    - 2
+    - 1
+    - 2
   ExtendedKalmanFilter_2_2_2:
     qualname: frc::ExtendedKalmanFilter
     subpackage: estimator

subprojects/robotpy-wpimath/gen/controls/KalmanFilter.yml

@@ -48,6 +48,13 @@ templates:
     - 2
     - 1
     - 1 
+  KalmanFilter_2_1_2:    
+    qualname: frc::KalmanFilter
+    subpackage: estimator
+    params:
+    - 2
+    - 1
+    - 2
   KalmanFilter_2_2_2:
     qualname: frc::KalmanFilter
     subpackage: estimator

subprojects/robotpy-wpimath/gen/controls/LinearSystemLoop.yml

@@ -70,6 +70,13 @@ templates:
     - 2
     - 1
     - 1 
+  LinearSystemLoop_2_1_2:
+    qualname: frc::LinearSystemLoop
+    subpackage: system
+    params:
+    - 2
+    - 1
+    - 2
   LinearSystemLoop_2_2_2:
     qualname: frc::LinearSystemLoop
     subpackage: system

subprojects/robotpy-wpimath/wpimath/estimator/__init__.py

@@ -6,9 +6,11 @@
     DifferentialDrivePoseEstimatorBase,
     ExtendedKalmanFilter_1_1_1,
     ExtendedKalmanFilter_2_1_1,
+    ExtendedKalmanFilter_2_1_2,
     ExtendedKalmanFilter_2_2_2,
     KalmanFilter_1_1_1,
     KalmanFilter_2_1_1,
+    KalmanFilter_2_1_2,
     KalmanFilter_2_2_2,
     KalmanFilter_3_2_3,
     MecanumDrivePoseEstimator,
@@ -40,9 +42,11 @@
     "DifferentialDrivePoseEstimatorBase",
     "ExtendedKalmanFilter_1_1_1",
     "ExtendedKalmanFilter_2_1_1",
+    "ExtendedKalmanFilter_2_1_2",
     "ExtendedKalmanFilter_2_2_2",
     "KalmanFilter_1_1_1",
     "KalmanFilter_2_1_1",
+    "KalmanFilter_2_1_2",
     "KalmanFilter_2_2_2",
     "KalmanFilter_3_2_3",
     "MecanumDrivePoseEstimator",

subprojects/robotpy-wpimath/wpimath/system/__init__.py

@@ -2,6 +2,7 @@
 from .._controls._controls.system import (
     LinearSystemLoop_1_1_1,
     LinearSystemLoop_2_1_1,
+    LinearSystemLoop_2_1_2,
     LinearSystemLoop_2_2_2,
     LinearSystemLoop_3_2_3,
     LinearSystem_1_1_1,
@@ -21,6 +22,7 @@
 __all__ = [
     "LinearSystemLoop_1_1_1",
     "LinearSystemLoop_2_1_1",
+    "LinearSystemLoop_2_1_2",
     "LinearSystemLoop_2_2_2",
     "LinearSystemLoop_3_2_3",
     "LinearSystem_1_1_1",