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locationd: Make live_kf robust to no GPS (#22774)

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* add no gps observations

* use correct ecef_location, orientation vals and stds for nogps states

* remove earth radius obs

* move initial loc to the ocean

* remove unnecessary changes

* update refs
old-commit-hash: 5c810a45b0
This commit is contained in:
Vivek Aithal
2021-11-09 14:45:47 -08:00
committed by GitHub
parent c1a3683ccb
commit 6bc1c7b502
3 changed files with 11 additions and 12 deletions
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selfdrive/locationd/locationd.cc
-1
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@@ -335,7 +335,6 @@ void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry
rot_calib_std *= 10.0;
MatrixXdr rot_device_cov = rotate_std(this->device_from_calib, rot_calib_std).array().square().matrix().asDiagonal();
MatrixXdr trans_device_cov = rotate_std(this->device_from_calib, trans_calib_std).array().square().matrix().asDiagonal();
this->kf->predict_and_observe(current_time, OBSERVATION_CAMERA_ODO_ROTATION,
{ rot_device }, { rot_device_cov });
this->kf->predict_and_observe(current_time, OBSERVATION_CAMERA_ODO_TRANSLATION,