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too complex

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old-commit-hash: 013e49bf90
This commit is contained in:
Harald Schafer
2020-05-14 16:30:00 -07:00
parent 8f71de0dbe
commit 777e183af3
1 changed files with 2 additions and 2 deletions
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selfdrive/locationd/models/live_kf.py
+2 -2
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@@ -159,13 +159,13 @@ class LiveKalman():
# Observation functions
#
imu_rot = euler_rotate(*imu_angles)
h_gyro_sym = imu_rot * sp.Matrix([vroll + roll_bias,
h_gyro_sym = sp.Matrix([vroll + roll_bias,
vpitch + pitch_bias,
vyaw + yaw_bias])
pos = sp.Matrix([x, y, z])
gravity = quat_rot.T * ((EARTH_GM / ((x**2 + y**2 + z**2)**(3.0 / 2.0))) * pos)
h_acc_sym = imu_rot * (gravity + acceleration)
h_acc_sym = (gravity + acceleration)
h_phone_rot_sym = sp.Matrix([vroll, vpitch, vyaw])
speed = sp.sqrt(vx**2 + vy**2 + vz**2)