From fe250d6a9e1207c9e882e3e0975a824c85f212ce Mon Sep 17 00:00:00 2001
From: Harald Schafer <harald.the.engineer@gmail.com>
Date: Mon, 3 Feb 2020 13:24:28 -0800
Subject: [PATCH] make it converge within 1min

---
 selfdrive/locationd/locationd_yawrate.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/locationd/locationd_yawrate.cc b/selfdrive/locationd/locationd_yawrate.cc
index e415f9adc8..4b93b68014 100644
--- a/selfdrive/locationd/locationd_yawrate.cc
+++ b/selfdrive/locationd/locationd_yawrate.cc
@@ -40,7 +40,7 @@ void Localizer::handle_sensor_events(capnp::List<cereal::SensorEventData>::Reade
 }
 
 void Localizer::handle_camera_odometry(cereal::CameraOdometry::Reader camera_odometry, double current_time) {
-  double R = pow(10 * camera_odometry.getRotStd()[2], 2);
+  double R = pow(5 * camera_odometry.getRotStd()[2], 2);
   double meas = camera_odometry.getRot()[2];
   update_state(C_posenet, R, current_time, meas);
 
@@ -64,7 +64,7 @@ Localizer::Localizer() {
 
   Q <<
     pow(.1, 2.0), 0,
-    0, pow(0.005/ 100.0, 2.0),
+    0, pow(0.05/ 100.0, 2.0),
   P <<
     pow(10000.0, 2.0), 0,
     0, pow(10000.0, 2.0);