Fix locationd_yawrate A matrix

old-commit-hash: ec6e83ca2d82fb6afe31ceb1067c93b56b09b9e2
2020-01-21 13:52:45 -08:00
parent a288983b61
commit 0f53379119
1 changed files with 6 additions and 5 deletions
--- a/selfdrive/locationd/locationd_yawrate.cc
+++ b/selfdrive/locationd/locationd_yawrate.cc
@@ -19,6 +19,12 @@ void Localizer::update_state(const Eigen::Matrix<double, 1, 4> &C, const double
    prev_update_time = current_time;
  }

+  A <<
+    1,  dt, 0,  0,
+    0,  1,  0,  0,
+    0,  0,  1,  dt,
+    0,  0,  0,  1;
+
  x = A * x;
  P = A * P * A.transpose() + dt * Q;

@@ -58,11 +64,6 @@ void Localizer::handle_controls_state(cereal::ControlsState::Reader controls_sta

 Localizer::Localizer() {
  // States: [yaw rate, yaw rate diff, gyro bias, gyro bias diff]
-  A <<
-    1, 1, 0, 0,
-    0, 1, 0, 0,
-    0, 0, 1, 1,
-    0, 0, 0, 1;
  I <<
    1, 0, 0, 0,
    0, 1, 0, 0,