From 1cbda7bac0d7db80936f20a7cddccdd42a128f0b Mon Sep 17 00:00:00 2001
From: HaraldSchafer <harald.the.engineer@gmail.com>
Date: Tue, 15 Jun 2021 10:17:20 -0700
Subject: [PATCH] gps can be bad in cities (#21270)

old-commit-hash: 9a2306e00875b227ff13b0bf88b80b14d387df56
---
 selfdrive/locationd/locationd.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
index 74f4ad785..df2a208f3 100755
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@@ -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);
   }