From 469f3e2376d8a74fad9e0d9367b8dec4a3b6205d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Wed, 9 Apr 2025 15:10:51 -0700 Subject: [PATCH] True weighted average --- selfdrive/locationd/lagd.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py index 7e85d0b67b..5ce82309ea 100755 --- a/selfdrive/locationd/lagd.py +++ b/selfdrive/locationd/lagd.py @@ -118,7 +118,7 @@ class BlockAverage: self.valid_blocks = valid_blocks def update(self, value: float): - self.values[self.block_idx] = (self.idx * self.values[self.block_idx] + (self.block_size - self.idx) * value) / self.block_size + self.values[self.block_idx] = (self.idx * self.values[self.block_idx] + value) / (self.idx + 1) self.idx = (self.idx + 1) % self.block_size if self.idx == 0: self.block_idx = (self.block_idx + 1) % self.num_blocks