From 8ef9fe4c2b41267ed74c1524f9646f3b4d24e177 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Mon, 9 Jan 2023 13:30:04 -0800 Subject: [PATCH] rem --- laika_repo | 2 +- selfdrive/locationd/locationd.cc | 3 +-- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/laika_repo b/laika_repo index 1fc0b8876d..9b2b771827 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit 1fc0b8876d0986cb970d73b163c081425b65230d +Subproject commit 9b2b771827dab961d7cf6894eba946f03673c9ee diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index b686e0c9e6..09fb577731 100755 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -30,7 +30,6 @@ const double GPS_UBLOX_SENSOR_TIME_OFFSET = 0.095; // s const float GPS_MUL_FACTOR = 10.0; const float GPS_POS_STD_THRESHOLD = 50.0; const float GPS_VEL_STD_THRESHOLD = 5.0; -const float GPS_POS_STD_DROP = 0.4; const float GPS_POS_ERROR_RESET_THRESHOLD = 300.0; const float GPS_POS_STD_RESET_THRESHOLD = 2.0; const float GPS_VEL_STD_RESET_THRESHOLD = 0.5; @@ -408,7 +407,7 @@ void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements: } VectorXd initial_pose_ecef_quat = quat2vector(euler2quat(ecef_euler_from_ned({ ecef_pos(0), ecef_pos(1), ecef_pos(2) }, orientation_ned_gps))); - if (ecef_pos_std > GPS_POS_STD_THRESHOLD || ecef_vel_std > GPS_VEL_STD_THRESHOLD || ecef_pos_std < GPS_POS_STD_DROP) { + if (ecef_pos_std > GPS_POS_STD_THRESHOLD || ecef_vel_std > GPS_VEL_STD_THRESHOLD) { this->determine_gps_mode(current_time); return; }