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make it converge within 1min

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old-commit-hash: fe250d6a9e
This commit is contained in:
Harald Schafer
2020-02-03 13:24:28 -08:00
parent cdd7da10c4
commit 54f5e6a499
1 changed files with 2 additions and 2 deletions
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selfdrive/locationd/locationd_yawrate.cc
+2 -2
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@@ -40,7 +40,7 @@ void Localizer::handle_sensor_events(capnp::List<cereal::SensorEventData>::Reade
}
void Localizer::handle_camera_odometry(cereal::CameraOdometry::Reader camera_odometry, double current_time) {
double R = pow(10 * camera_odometry.getRotStd()[2], 2);
double R = pow(5 * camera_odometry.getRotStd()[2], 2);
double meas = camera_odometry.getRot()[2];
update_state(C_posenet, R, current_time, meas);
@@ -64,7 +64,7 @@ Localizer::Localizer() {
Q <<
pow(.1, 2.0), 0,
0, pow(0.005/ 100.0, 2.0),
0, pow(0.05/ 100.0, 2.0),
P <<
pow(10000.0, 2.0), 0,
0, pow(10000.0, 2.0);