Faster a_ego filter (#25646)

* Faster a_ego filter

* :x
Update ref

* typo

* update ref

selfdrive/car/interfaces.py

@@ -271,12 +271,12 @@ class CarStateBase(ABC):
     self.left_blinker_prev = False
     self.right_blinker_prev = False
 
-    # Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
+    # Q = np.matrix([[0.0, 0.0], [0.0, 100.0]])
-    # R = 1e3
+    # R = 0.3
     self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
                          A=[[1.0, DT_CTRL], [0.0, 1.0]],
                          C=[1.0, 0.0],
-                         K=[[0.12287673], [0.29666309]])
+                         K=[[0.17406039], [1.65925647]])
 
   def update_speed_kf(self, v_ego_raw):
     if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0:  # Prevent large accelerations when car starts at non zero speed

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-cad0c6a23a9baea9853fe2117ff9127a83f9e884
+5cb8e7ea92f333bdb49682b0593ab2ae5a5f3824