Laikad: fix bad init elevation incorrect (#27974)

* Laikad: fix bad init elevation incorrect * update ref
2 years ago · 922b09de96
parent d0b309ab0d
commit 922b09de96
3 changed files with 5 additions and 3 deletions
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 6fadabd86043ee19e06c6ed59aa4e688c14fa8e4
+Subproject commit e932f32ab921ed09ba6e304990574693d8ca5199
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@ -254,9 +254,11 @@ class Laikad:
    processed_measurements = process_measurements(new_meas, self.astro_dog)
    if self.last_fix_pos is not None:
      est_pos = self.last_fix_pos
+      correct_delay = True
    else:
      est_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist()
-    corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog)
+      correct_delay = False
+    corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog, correct_delay=correct_delay)
    return corrected_measurements

  def calc_fix(self, t, measurements):
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-818a0f25985c95bb56e54a4ac3cfb3126e6044e2
+28ac0bf6aa9142446917301071cf03797a724bf2