sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

make it converge within 1min

Browse Source 
old-commit-hash: fe250d6a9e
commatwo_master
Harald Schafer 5 years ago
parent cdd7da10c4
commit 54f5e6a499
1 changed files with 2 additions and 2 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 4
      selfdrive/locationd/locationd_yawrate.cc

4
selfdrive/locationd/locationd_yawrate.cc
Unescape View File

@ -40,7 +40,7 @@ void Localizer::handle_sensor_events(capnp::List<cereal::SensorEventData>::Reade
} }
void Localizer::handle_camera_odometry(cereal::CameraOdometry::Reader camera_odometry, double current_time) { void Localizer::handle_camera_odometry(cereal::CameraOdometry::Reader camera_odometry, double current_time) {
double R = pow(10 * camera_odometry.getRotStd()[2], 2); double R = pow(5 * camera_odometry.getRotStd()[2], 2);
double meas = camera_odometry.getRot()[2]; double meas = camera_odometry.getRot()[2];
update_state(C_posenet, R, current_time, meas); update_state(C_posenet, R, current_time, meas);
@ -64,7 +64,7 @@ Localizer::Localizer() {
Q << Q <<
pow(.1, 2.0), 0, pow(.1, 2.0), 0,
0, pow(0.005/ 100.0, 2.0), 0, pow(0.05/ 100.0, 2.0),
P << P <<
pow(10000.0, 2.0), 0, pow(10000.0, 2.0), 0,
0, pow(10000.0, 2.0); 0, pow(10000.0, 2.0);

Write Preview
Loading…
Cancel
Save