From a3071bf15b27907fe28e054b64ad45cdab38c25f Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Fri, 18 Jun 2021 17:57:42 -0700 Subject: [PATCH] Update car_kf.py --- selfdrive/locationd/models/car_kf.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py index b440cc9bb0..dac95dcd7b 100755 --- a/selfdrive/locationd/models/car_kf.py +++ b/selfdrive/locationd/models/car_kf.py @@ -87,6 +87,9 @@ class CarKalman(KalmanFilter): def generate_code(generated_dir): dim_state = CarKalman.initial_x.shape[0] name = CarKalman.name + + # vehicle models comes from The Science of Vehicle Dynamics: Handling, Braking, and Ride of Road and Race Cars + # Model used is in 6.15 with formula from 6.198 # globals global_vars = [sp.Symbol(name) for name in CarKalman.global_vars]