Merge branch 'main' into sonar-processing

Author: ChuChuCodes0414

onboard/src/cv/cv/depthai_spatial_detection.py

@@ -310,7 +310,7 @@ def detect(self) -> None:
             confidence = detection.confidence
 
             # Calculate relative pose, and pull scalings from config dependent on model
-            scale_x, scale_y, scale_z = None, None, None
+            scale_x, scale_y, scale_z = 1.0, 1.0, 1.0
             match label:
                 case 'torpedo_banner':
                     scale_x = Torpedo.TORPEDO_BANNER_X_SCALE

onboard/src/static_transforms/config/oogway.yaml

@@ -68,7 +68,7 @@ transforms:
     z: -0.2552065
     roll: 0.0
     pitch: 0.0
-    yaw: -1.57079632679
+    yaw: -1.5707963267948966
     frame_id: corner_link
     child_frame_id: dvl
   marker_dropper: