gps can be bad in cities (#21270)

pull/21279/head
HaraldSchafer 4 years ago committed by GitHub
parent e85fa7f1c9
commit 9a2306e008
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GPG Key ID: 4AEE18F83AFDEB23
  1. 2
      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);
}

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