change time

3 years ago · 4628c66529
parent 5cc642640c
commit 4628c66529
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@ -423,7 +423,7 @@ void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements:
    this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_ORIENTATION_FROM_GPS, { initial_pose_ecef_quat });
  }

-  this->last_gps_msg = current_time;
+  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_VEL, { ecef_vel }, { ecef_vel_R });
 }