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fix std

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old-commit-hash: 891d6cea94
commatwo_master
Harald Schafer 5 years ago
parent 3c70bf6ac6
commit 6ee6d0a5eb
1 changed files with 1 additions and 1 deletions
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  1. 2
      selfdrive/locationd/kalman/models/loc_kf.py

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selfdrive/locationd/kalman/models/loc_kf.py
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@ -362,7 +362,7 @@ class LocKalman():
self.obs_noise = {ObservationKind.ODOMETRIC_SPEED: np.atleast_2d(0.2**2), 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_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.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.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]), ObservationKind.NO_ROT: np.diag([0.00025**2, 0.00025**2, 0.00025**2]),

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