From 6f97b0c21e814624f1d87b51169d397aef8dc8a1 Mon Sep 17 00:00:00 2001 From: Harald Schafer Date: Tue, 24 Mar 2020 11:01:41 -0700 Subject: [PATCH] better nothing than wrong old-commit-hash: cc5b9b32bf10806e74fc15f4dfd1aae6c200f8e3 --- selfdrive/locationd/locationd.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/locationd/locationd.py b/selfdrive/locationd/locationd.py index 523fa26ad6..32872b6a12 100644 --- a/selfdrive/locationd/locationd.py +++ b/selfdrive/locationd/locationd.py @@ -67,7 +67,7 @@ class Localizer(): vel_ecef = predicted_state[States.ECEF_VELOCITY] vel_ecef_std = predicted_std[States.ECEF_VELOCITY_ERR] fix_pos_geo = coord.ecef2geodetic(fix_ecef) - fix_pos_geo_std = coord.ecef2geodetic(fix_ecef + fix_ecef_std) - fix_pos_geo + #fix_pos_geo_std = np.abs(coord.ecef2geodetic(fix_ecef + fix_ecef_std) - fix_pos_geo) orientation_ecef = euler_from_quat(predicted_state[States.ECEF_ORIENTATION]) orientation_ecef_std = predicted_std[States.ECEF_ORIENTATION_ERR] @@ -102,8 +102,8 @@ class Localizer(): fix = messaging.log.LiveLocationKalman.new_message() fix.positionGeodetic.value = to_float(fix_pos_geo) - fix.positionGeodetic.std = to_float(fix_pos_geo_std) - fix.positionGeodetic.valid = True + #fix.positionGeodetic.std = to_float(fix_pos_geo_std) + #fix.positionGeodetic.valid = True fix.positionECEF.value = to_float(fix_ecef) fix.positionECEF.std = to_float(fix_ecef_std) fix.positionECEF.valid = True