From fa1dc583431eadb6a75f84608f20a6ac7453dc52 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Fri, 22 Oct 2021 21:00:01 -0700 Subject: [PATCH] locationd: Gyro bias initial covariance (#22622) * reduce cam odo std multiplier * increase gyro obs noise * increase initial cov for gyro bias --- selfdrive/locationd/models/live_kf.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/locationd/models/live_kf.py b/selfdrive/locationd/models/live_kf.py index 3df1416ae181a00..a7aefb29730c184 100755 --- 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])