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temporary revert laikad as main gps

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pull/26968/head
Kurt Nistelberger 2 years ago
parent 028527423c
commit 1e8e4f7ede
1 changed files with 7 additions and 6 deletions
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  1. 13
      selfdrive/locationd/locationd.cc

13
selfdrive/locationd/locationd.cc
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@ -354,6 +354,7 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R
this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R); this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R);
} }
this->last_gps_msg = sensor_time;
this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R }); this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R });
this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R }); this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R });
} }
@ -588,12 +589,12 @@ void Localizer::handle_msg(const cereal::Event::Reader& log) {
this->handle_sensor(t, log.getAccelerometer()); this->handle_sensor(t, log.getAccelerometer());
} else if (log.isGyroscope()) { } else if (log.isGyroscope()) {
this->handle_sensor(t, log.getGyroscope()); this->handle_sensor(t, log.getGyroscope());
//} else if (log.isGpsLocation()) { } else if (log.isGpsLocation()) {
// this->handle_gps(t, log.getGpsLocation(), GPS_QUECTEL_SENSOR_TIME_OFFSET); this->handle_gps(t, log.getGpsLocation(), GPS_QUECTEL_SENSOR_TIME_OFFSET);
//} else if (log.isGpsLocationExternal()) { } else if (log.isGpsLocationExternal()) {
// this->handle_gps(t, log.getGpsLocationExternal(), GPS_UBLOX_SENSOR_TIME_OFFSET); this->handle_gps(t, log.getGpsLocationExternal(), GPS_UBLOX_SENSOR_TIME_OFFSET);
} else if (log.isGnssMeasurements()) { //} else if (log.isGnssMeasurements()) {
this->handle_gnss(t, log.getGnssMeasurements()); // this->handle_gnss(t, log.getGnssMeasurements());
} else if (log.isCarState()) { } else if (log.isCarState()) {
this->handle_car_state(t, log.getCarState()); this->handle_car_state(t, log.getCarState());
} else if (log.isCameraOdometry()) { } else if (log.isCameraOdometry()) {

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