laikad: Filter unwanted pseudoranges (#25051)

Filter unwanted pseudoranges
3 years ago · b88d7c89fa
parent e336f254b1
commit b88d7c89fa
1 changed files with 3 additions and 0 deletions
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@ -103,6 +103,9 @@ class Laikad:
          self.fetch_orbits(latest_msg_t + SECS_IN_MIN, block)

      new_meas = read_raw_ublox(report)
+      # Filter measurements with unexpected pseudoranges for GPS and GLONASS satellites
+      new_meas = [m for m in new_meas if 1e7 < m.observables['C1C'] < 3e7]
+
      processed_measurements = process_measurements(new_meas, self.astro_dog)

      est_pos = self.get_est_pos(t, processed_measurements)