From cefb55b0dce28cf6a55eb2973a408e9eacb87913 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Tue, 11 Mar 2025 13:38:13 -0700
Subject: [PATCH] corr window 120

---
 selfdrive/locationd/lagd.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py
index e71bd60961..34637d884c 100755
--- a/selfdrive/locationd/lagd.py
+++ b/selfdrive/locationd/lagd.py
@@ -13,7 +13,7 @@ from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 MIN_LAG_VEL = 20.0
 MAX_SANE_LAG = 3.0
 MIN_ABS_YAW_RATE_DEG = 1
-MOVING_CORR_WINDOW = 300.0
+MOVING_CORR_WINDOW = 120.0
 MIN_OKAY_WINDOW = 20.0
 MIN_NCC = 0.95