From ff4a2e79ad7d3600c4e8995e2719f1376cc9592c Mon Sep 17 00:00:00 2001
From: Kurt Nistelberger <kurt.nistelberger@gmail.com>
Date: Mon, 26 Dec 2022 20:47:34 -0800
Subject: [PATCH] adopt orientation reset threshold

---
 selfdrive/locationd/locationd.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
index d396a815e5..8e84021b4b 100755
--- 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());