fix std

old-commit-hash: 891d6cea94
5 years ago · 6ee6d0a5eb
parent 3c70bf6ac6
commit 6ee6d0a5eb
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/locationd/kalman/models/loc_kf.py
+++ b/selfdrive/locationd/kalman/models/loc_kf.py
@ -362,7 +362,7 @@ class LocKalman():

    self.obs_noise = {ObservationKind.ODOMETRIC_SPEED: np.atleast_2d(0.2**2),
                      ObservationKind.PHONE_GYRO: np.diag([0.025**2, 0.025**2, 0.025**2]),
-                      ObservationKind.PHONE_ACCEL: np.diag([.5**2, .5**2, .5*2]),
+                      ObservationKind.PHONE_ACCEL: np.diag([.5**2, .5**2, .5**2]),
                      ObservationKind.CAMERA_ODO_ROTATION: np.diag([0.05**2, 0.05**2, 0.05**2]),
                      ObservationKind.IMU_FRAME: np.diag([0.05**2, 0.05**2, 0.05**2]),
                      ObservationKind.NO_ROT: np.diag([0.00025**2, 0.00025**2, 0.00025**2]),