From b57f55088e4a4054ba4b86d7cce9b2a20704db61 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Tue, 30 Nov 2021 10:51:32 -0800 Subject: [PATCH] add a note in loc_kf (#23082) --- selfdrive/locationd/models/loc_kf.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/locationd/models/loc_kf.py b/selfdrive/locationd/models/loc_kf.py index c6a92f1683..48e309d9c6 100755 --- a/selfdrive/locationd/models/loc_kf.py +++ b/selfdrive/locationd/models/loc_kf.py @@ -50,6 +50,8 @@ class States(): CLOCK_ACCELERATION = slice(28, 29) # clock acceleration in light-meters/s**2, ACCELEROMETER_SCALE = slice(29, 30) # scale of mems accelerometer ACCELEROMETER_BIAS = slice(30, 33) # bias of mems accelerometer + # We curently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_OFFSET). + # From experiments we see that ACCELEROMETER_BIAS is more correct than ACCELEROMETER_SCALE # Error-state has different slices because it is an ESKF ECEF_POS_ERR = slice(0, 3) @@ -159,7 +161,6 @@ class LocKalman(): glonass_bias = state[States.GLONASS_BIAS, :] glonass_freq_slope = state[States.GLONASS_FREQ_SLOPE, :] ca = state[States.CLOCK_ACCELERATION, :] - # accel_scale = state[States.ACCELEROMETER_SCALE, :] accel_bias = state[States.ACCELEROMETER_BIAS, :] dt = sp.Symbol('dt')