mawei/onepilot
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

gps can be bad in cities (#21270)

Browse Source 
old-commit-hash: 9a2306e00875b227ff13b0bf88b80b14d387df56
This commit is contained in:
HaraldSchafer
2021-06-15 10:17:20 -07:00
committed by GitHub
parent 196f96f057
commit 1cbda7bac0
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
selfdrive/locationd/locationd.cc
View File

@@ -281,7 +281,7 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R
LOGE("Locationd vs ubloxLocation orientation difference too large, kalman reset");
this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos);
this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_ORIENTATION_FROM_GPS, { initial_pose_ecef_quat });
} else if (gps_est_error > 50.0) {
} else if (gps_est_error > 100.0) {
LOGE("Locationd vs ubloxLocation position difference too large, kalman reset");
this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos);
}