From 8db89a6b04d7ff55eb2ac49eb2005ee0b5b9d03b Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Tue, 28 Apr 2020 17:47:04 -0700
Subject: [PATCH] Return avg angle offset

---
 selfdrive/locationd/kalman/models/car_kf.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/locationd/kalman/models/car_kf.py b/selfdrive/locationd/kalman/models/car_kf.py
index b7731c715c..d655720276 100755
--- a/selfdrive/locationd/kalman/models/car_kf.py
+++ b/selfdrive/locationd/kalman/models/car_kf.py
@@ -48,7 +48,7 @@ class CarKalman():
   Q = np.diag([
     (.05/100)**2,
     .01**2,
-    math.radians(0.0001)**2,
+    math.radians(0.002)**2,
     math.radians(0.1)**2,
 
     .1**2, .01**2,