locationd: Gyro bias initial covariance (#22622)

* reduce cam odo std multiplier * increase gyro obs noise * increase initial cov for gyro bias
4 years ago · 2006aa412e
parent cd5bc565d3
commit 2006aa412e
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/locationd/models/live_kf.py
+++ b/selfdrive/locationd/models/live_kf.py
@ -58,7 +58,7 @@ class LiveKalman():
                             10**2, 10**2, 10**2,
                             10**2, 10**2, 10**2,
                             1**2, 1**2, 1**2,
-                             0.05**2, 0.05**2, 0.05**2,
+                             1**2, 1**2, 1**2,
                             0.02**2,
                             1**2, 1**2, 1**2,
                             (0.01)**2, (0.01)**2, (0.01)**2])