locationd: Gyro bias initial covariance (commaai#22622)

* reduce cam odo std multiplier * increase gyro obs noise * increase initial cov for gyro bias
twilsonco · Feb 14, 2022 · e8cc22b · e8cc22b
1 parent 5d8d2c5
commit e8cc22b
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/selfdrive/locationd/models/live_kf.py b/selfdrive/locationd/models/live_kf.py
@@ -58,7 +58,7 @@ class LiveKalman():
                              10**2, 10**2, 10**2,
                              10**2, 10**2, 10**2,
                              1**2, 1**2, 1**2,
-                             0.05**2, 0.05**2, 0.05**2,
+                             1**2, 1**2, 1**2,
                              0.02**2,
                              1**2, 1**2, 1**2,
                              (0.01)**2, (0.01)**2, (0.01)**2])