Fix bias state number in paramsd too

5 years ago · 64feca5692
parent 1db7b43870
commit 64feca5692
1 changed files with 1 additions and 1 deletions
--- 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);