Faster sR and stiffness factor

5 years ago · b2aefd252f
parent 94bba46d6d
commit b2aefd252f
1 changed files with 2 additions and 2 deletions
--- a/selfdrive/locationd/kalman/models/car_kf.py
+++ b/selfdrive/locationd/kalman/models/car_kf.py
@ -46,8 +46,8 @@ class CarKalman():

  # process noise
  Q = np.diag([
-    (.05/100)**2,
-    .0001**2,
+    (.05/10)**2,
+    .01**2,
    math.radians(0.0001)**2,
    math.radians(0.1)**2,