adopt orientation reset threshold

3 years ago · ff4a2e79ad
parent 70a1027aa0
commit ff4a2e79ad
1 changed files with 2 additions and 1 deletions
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@ -33,7 +33,8 @@ const float  GPS_VEL_STD_THRESHOLD = 5.0;
 const float  GPS_POS_ERROR_RESET_THRESHOLD = 200.0;
 const float  GPS_POS_STD_RESET_THRESHOLD = 5.0;
 const float  GPS_VEL_STD_RESET_THRESHOLD = 0.5;
-const float  GPS_ORIENTATION_ERROR_RESET_THRESHOLD = 5.0;
+// 3.0 is ~180deg orientation error
+const float  GPS_ORIENTATION_ERROR_RESET_THRESHOLD = 2.5;

 static VectorXd floatlist2vector(const capnp::List<float, capnp::Kind::PRIMITIVE>::Reader& floatlist) {
  VectorXd res(floatlist.size());