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pull/26850/head
Kurt Nistelberger 3 years ago
parent 5cc642640c
commit 4628c66529
1 changed files with 1 additions and 1 deletions
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  1. 2
      selfdrive/locationd/locationd.cc

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selfdrive/locationd/locationd.cc
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@ -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->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_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 });
} }

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