From 6ee6d0a5eb0aa1c9e1c78e26424b372505741581 Mon Sep 17 00:00:00 2001 From: Harald Schafer Date: Thu, 13 Feb 2020 08:38:50 -0800 Subject: [PATCH] fix std old-commit-hash: 891d6cea949fea784bcc8821b69364af75e280b8 --- selfdrive/locationd/kalman/models/loc_kf.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/locationd/kalman/models/loc_kf.py b/selfdrive/locationd/kalman/models/loc_kf.py index 4542e79695..86f31a8c7b 100755 --- 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]),