inc min satellite count

3 years ago · 8cd3cb4bd1
parent d13bd12e5b
commit 8cd3cb4bd1
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@ -94,7 +94,7 @@ class Laikad:

  def get_lsq_fix(self, t, measurements):
    if self.last_fix_t is None or abs(self.last_fix_t - t) > 0:
-      min_measurements = 6 if any(p.constellation_id == ConstellationId.GLONASS for p in measurements) else 5
+      min_measurements = 7 if any(p.constellation_id == ConstellationId.GLONASS for p in measurements) else 6
      position_solution, pr_residuals = calc_pos_fix(measurements, self.posfix_functions, min_measurements=min_measurements)

      if len(position_solution) < 3: