Retune stiffness

5 years ago · 9159a8d701
parent 0a6d9a7bbd
commit 9159a8d701
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/locationd/kalman/models/car_kf.py
+++ b/selfdrive/locationd/kalman/models/car_kf.py
@ -46,7 +46,7 @@ class CarKalman():

  # process noise
  Q = np.diag([
-    (.05/10)**2,
+    (.05/100)**2,
    .01**2,
    math.radians(0.0001)**2,
    math.radians(0.1)**2,