gps can be bad in cities (#21270)

4 years ago · 9a2306e008
parent e85fa7f1c9
commit 9a2306e008
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@ -281,7 +281,7 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R
    LOGE("Locationd vs ubloxLocation orientation difference too large, kalman reset");
    this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos);
    this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_ORIENTATION_FROM_GPS, { initial_pose_ecef_quat });
-  } else if (gps_est_error > 50.0) {
+  } else if (gps_est_error > 100.0) {
    LOGE("Locationd vs ubloxLocation position difference too large, kalman reset");
    this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos);
  }