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2 months ago · 6da550b0e0
parent f95b238699
commit 6da550b0e0
1 changed files with 3 additions and 3 deletions
--- a/selfdrive/locationd/lagd.py
+++ b/selfdrive/locationd/lagd.py
@ -13,8 +13,8 @@ from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 MIN_LAG_VEL = 20.0
 MAX_SANE_LAG = 3.0
 MIN_ABS_YAW_RATE_DEG = 1
-MOVING_CORR_WINDOW = 120.0
-MIN_OKAY_WINDOW = 20.0
+MOVING_CORR_WINDOW = 300.0
+MIN_OKAY_WINDOW = 25.0
 MIN_NCC = 0.95


@ -145,7 +145,7 @@ def main():
  while True:
    sm.update()
    if sm.all_checks():
-      for which in sm.services:
+      for which in sorted(sm.updated.keys(), key=lambda x: sm.logMonoTime[x]):
        if sm.updated[which]:
          t = sm.logMonoTime[which] * 1e-9
          estimator.handle_log(t, which, sm[which])