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locationd : Acceleration Bias in locationd (#22879)

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* add accel bias to filter for offline calculation

* bugfix acc bias in live_kf

* add no_accel obsertvation

* increase initial certainty of acc-bias and reduce PN

* increase initial certainty of acc-bias and reduce PN

* increase accel bias PN

* increase obs noise for no_accel observation

* style fixes

* update refs
old-commit-hash: 534bf697eeb3b72643abc713649ce2eef5f75820
This commit is contained in:
Vivek Aithal
2021-11-12 15:55:16 -08:00
committed by GitHub
parent c142416931
commit 27a6dc0c08
5 changed files with 20 additions and 8 deletions
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selfdrive/locationd/locationd.cc
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@@ -305,6 +305,7 @@ void Localizer::handle_car_state(double current_time, const cereal::CarState::Re
this->car_speed = std::abs(log.getVEgo());
if (log.getStandstill()) {
this->kf->predict_and_observe(current_time, OBSERVATION_NO_ROT, { Vector3d(0.0, 0.0, 0.0) });
this->kf->predict_and_observe(current_time, OBSERVATION_NO_ACCEL, { Vector3d(0.0, 0.0, 0.0) });
}
}