sadmen
/
jyoung
mirror of https://github.com/jyoung8607/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

gps can be bad in cities (#21270)

Browse Source 
old-commit-hash: 9a2306e008
vw-mqb-aeb
HaraldSchafer 4 years ago committed by GitHub
parent 196f96f057
commit 1cbda7bac0
1 changed files with 1 additions and 1 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      selfdrive/locationd/locationd.cc

2
selfdrive/locationd/locationd.cc
Unescape 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"); LOGE("Locationd vs ubloxLocation orientation difference too large, kalman reset");
this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos); 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 }); 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"); LOGE("Locationd vs ubloxLocation position difference too large, kalman reset");
this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos); this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos);
} }

Write Preview
Loading…
Cancel
Save