From 922b09de96201e4c0d1cdf6027dc07b1d76902d0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 19 Apr 2023 14:04:24 -0700 Subject: [PATCH] Laikad: fix bad init elevation incorrect (#27974) * Laikad: fix bad init elevation incorrect * update ref --- laika_repo | 2 +- selfdrive/locationd/laikad.py | 4 +++- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 5 insertions(+), 3 deletions(-) diff --git a/laika_repo b/laika_repo index 6fadabd860..e932f32ab9 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit 6fadabd86043ee19e06c6ed59aa4e688c14fa8e4 +Subproject commit e932f32ab921ed09ba6e304990574693d8ca5199 diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 0c0bcbf7ef..8b07c46aaa 100755 --- 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): diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 04aacbddf8..1c7c97b60a 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -818a0f25985c95bb56e54a4ac3cfb3126e6044e2 \ No newline at end of file +28ac0bf6aa9142446917301071cf03797a724bf2