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Faster a_ego filter (#25646)

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* Faster a_ego filter

* :x
Update ref

* typo

* update ref
This commit is contained in:
HaraldSchafer
2022-09-02 16:19:06 -07:00
committed by GitHub
parent 3b602e2844
commit 593dfd0aed
2 changed files with 4 additions and 4 deletions
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selfdrive/car/interfaces.py
+3 -3
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@@ -271,12 +271,12 @@ class CarStateBase(ABC):
self.left_blinker_prev = False self.left_blinker_prev = False
self.right_blinker_prev = False self.right_blinker_prev = False
# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]]) # Q = np.matrix([[0.0, 0.0], [0.0, 100.0]])
# R = 1e3 # R = 0.3
self.v_ego_kf = KF1D(x0=[[0.0], [0.0]], self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
A=[[1.0, DT_CTRL], [0.0, 1.0]], A=[[1.0, DT_CTRL], [0.0, 1.0]],
C=[1.0, 0.0], C=[1.0, 0.0],
K=[[0.12287673], [0.29666309]]) K=[[0.17406039], [1.65925647]])
def update_speed_kf(self, v_ego_raw): def update_speed_kf(self, v_ego_raw):
if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0: # Prevent large accelerations when car starts at non zero speed if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0: # Prevent large accelerations when car starts at non zero speed
selfdrive/test/process_replay/ref_commit
+1 -1
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@@ -1 +1 @@
cad0c6a23a9baea9853fe2117ff9127a83f9e884 5cb8e7ea92f333bdb49682b0593ab2ae5a5f3824