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fix naming

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pull/26850/head
Kurt Nistelberger 3 years ago
parent 9f484bc9f9
commit a0338246fa
1 changed files with 6 additions and 6 deletions
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  1. 12
      selfdrive/locationd/locationd.cc

12
selfdrive/locationd/locationd.cc
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@ -25,8 +25,8 @@ const double MAX_FILTER_REWIND_TIME = 0.8; // s
// TODO: GPS sensor time offsets are empirically calculated // TODO: GPS sensor time offsets are empirically calculated
// They should be replaced with synced time from a real clock // They should be replaced with synced time from a real clock
const double GPS_LOCATION_SENSOR_TIME_OFFSET = 0.630; // s const double GPS_QUECTEL_SENSOR_TIME_OFFSET = 0.630; // s
const double GPS_LOCATION_EXTERNAL_SENSOR_TIME_OFFSET = 0.095; // s const double GPS_UBLOX_SENSOR_TIME_OFFSET = 0.095; // s
static VectorXd floatlist2vector(const capnp::List<float, capnp::Kind::PRIMITIVE>::Reader& floatlist) { static VectorXd floatlist2vector(const capnp::List<float, capnp::Kind::PRIMITIVE>::Reader& floatlist) {
VectorXd res(floatlist.size()); VectorXd res(floatlist.size());
@ -359,9 +359,9 @@ void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements:
double sensor_time = log.getMeasTime() * 1e-9; double sensor_time = log.getMeasTime() * 1e-9;
if (ublox_available) if (ublox_available)
sensor_time -= GPS_LOCATION_EXTERNAL_SENSOR_TIME_OFFSET; sensor_time -= GPS_UBLOX_SENSOR_TIME_OFFSET;
else else
sensor_time -= GPS_LOCATION_SENSOR_TIME_OFFSET; sensor_time -= GPS_QUECTEL_SENSOR_TIME_OFFSET;
auto ecef_pos_v = log.getPositionECEF().getValue(); auto ecef_pos_v = log.getPositionECEF().getValue();
VectorXd ecef_pos = Vector3d(ecef_pos_v[0], ecef_pos_v[1], ecef_pos_v[2]); VectorXd ecef_pos = Vector3d(ecef_pos_v[0], ecef_pos_v[1], ecef_pos_v[2]);
@ -568,9 +568,9 @@ void Localizer::handle_msg(const cereal::Event::Reader& log) {
} else if (log.isGyroscope()) { } else if (log.isGyroscope()) {
this->handle_sensor(t, log.getGyroscope()); this->handle_sensor(t, log.getGyroscope());
} else if (log.isGpsLocation()) { } else if (log.isGpsLocation()) {
this->handle_gps(t, log.getGpsLocation(), GPS_LOCATION_SENSOR_TIME_OFFSET); this->handle_gps(t, log.getGpsLocation(), GPS_QUECTEL_SENSOR_TIME_OFFSET);
} else if (log.isGpsLocationExternal()) { } else if (log.isGpsLocationExternal()) {
this->handle_gps(t, log.getGpsLocationExternal(), GPS_LOCATION_EXTERNAL_SENSOR_TIME_OFFSET); this->handle_gps(t, log.getGpsLocationExternal(), GPS_UBLOX_SENSOR_TIME_OFFSET);
//} else if (log.isGnssMeasurements()) { //} else if (log.isGnssMeasurements()) {
// this->handle_gnss(t, log.getGnssMeasurements()); // this->handle_gnss(t, log.getGnssMeasurements());
} else if (log.isCarState()) { } else if (log.isCarState()) {

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