From 94d59314e28c484c8a4a9fb36c8ab659ea79da57 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Fri, 19 Nov 2021 12:49:32 -0800 Subject: [PATCH] Revert ecef std until real fix (#22982) * too low * update refs Co-authored-by: Harald Schafer --- selfdrive/locationd/models/live_kf.py | 4 ++-- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/locationd/models/live_kf.py b/selfdrive/locationd/models/live_kf.py index c67644ff1a..75415a2845 100755 --- a/selfdrive/locationd/models/live_kf.py +++ b/selfdrive/locationd/models/live_kf.py @@ -57,8 +57,8 @@ class LiveKalman(): 0, 0, 0]) # state covariance - initial_P_diag = np.array([10**2, 10**2, 10**2, - 0.01**2, 0.01**2, 0.01**2, + initial_P_diag = np.array([1e3**2, 1e3**2, 1e3**2, + 0.5**2, 0.5**2, 0.5**2, 10**2, 10**2, 10**2, 1**2, 1**2, 1**2, 1**2, 1**2, 1**2, diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 92ae208dd0..9021aaec7a 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -848bc88a069b182d6f50698dd785ba360915e8dc \ No newline at end of file +567866c06976f8f95fa7d1670b51d8723e663ea1 \ No newline at end of file