locationd: Gyro bias initial covariance #22622
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twilsonco
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Feb 13, 2022
* reduce cam odo std multiplier * increase gyro obs noise * increase initial cov for gyro bias
twilsonco
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Feb 13, 2022
* reduce cam odo std multiplier * increase gyro obs noise * increase initial cov for gyro bias
twilsonco
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Feb 14, 2022
* reduce cam odo std multiplier * increase gyro obs noise * increase initial cov for gyro bias
twilsonco
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Feb 16, 2022
* reduce cam odo std multiplier * increase gyro obs noise * increase initial cov for gyro bias
twilsonco
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Feb 17, 2022
* reduce cam odo std multiplier * increase gyro obs noise * increase initial cov for gyro bias
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Problem : At the beginning of the route in this issue, the gyro bias was incorrect, leading to incorrect fast angle offset values being learnt and the car drifting towards the right side of the lane. The reason for this was the low value of the initial covariance for gyro bias.
Fix : Using a larger initial covariance for gyro bias, the gyro bias is learnt better, while everything else being the same (this is reflected in the lld_Report).