corr window 120

3 months ago · cefb55b0dc
parent 96f8d9f9ce
commit cefb55b0dc
1 changed files with 1 additions and 1 deletions
--- 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