From b2aefd252fd70bd0e0d2f7a65f34cef9910182bf Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Mon, 27 Apr 2020 16:39:27 -0700
Subject: [PATCH] Faster sR and stiffness factor

---
 selfdrive/locationd/kalman/models/car_kf.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/locationd/kalman/models/car_kf.py b/selfdrive/locationd/kalman/models/car_kf.py
index 0cc90090b4..d48f3636f6 100755
--- 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,