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locationd: Gyro bias initial covariance (#22622)

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* reduce cam odo std multiplier

* increase gyro obs noise

* increase initial cov for gyro bias
old-commit-hash: 2006aa412e
This commit is contained in:
Vivek Aithal
2021-10-22 21:00:01 -07:00
committed by GitHub
parent 1dc45f978d
commit b150ceffa4
1 changed files with 1 additions and 1 deletions
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selfdrive/locationd/models/live_kf.py
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@@ -58,7 +58,7 @@ class LiveKalman():
10**2, 10**2, 10**2,
10**2, 10**2, 10**2,
1**2, 1**2, 1**2,
0.05**2, 0.05**2, 0.05**2,
1**2, 1**2, 1**2,
0.02**2,
1**2, 1**2, 1**2,
(0.01)**2, (0.01)**2, (0.01)**2])