From 4b16ee991107a1eee3db58b4b6dd1b1945618df2 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Mon, 3 Feb 2020 12:46:39 -0800
Subject: [PATCH] Fix bias state number in paramsd too

old-commit-hash: 64feca5692c1abdccdfa72e213000cd454d7b806
---
 selfdrive/locationd/paramsd.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/locationd/paramsd.cc b/selfdrive/locationd/paramsd.cc
index aa7e299a72..318a759824 100644
--- a/selfdrive/locationd/paramsd.cc
+++ b/selfdrive/locationd/paramsd.cc
@@ -142,7 +142,7 @@ int main(int argc, char *argv[]) {
         auto live_params = event.initLiveParameters();
         live_params.setValid(valid);
         live_params.setYawRate(localizer.x[0]);
-        live_params.setGyroBias(localizer.x[2]);
+        live_params.setGyroBias(localizer.x[1]);
         live_params.setSensorValid(sensor_data_age < 5.0);
         live_params.setAngleOffset(angle_offset_degrees);
         live_params.setAngleOffsetAverage(angle_offset_average_degrees);