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Revert "temporary revert laikad as main gps"

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This reverts commit a4b9a7fec9c07a42dcb1bb990471a92aa4476855.

old-commit-hash: c44b6225592c070d87d2b3e77018a623d344f054
This commit is contained in:
Bruce Wayne
2023-01-14 10:34:59 -08:00
parent 9bbc5bdfb1
commit 29d4e1645e
1 changed files with 6 additions and 7 deletions
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selfdrive/locationd/locationd.cc
+6 -7
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@@ -354,7 +354,6 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R
this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R);
}
this->last_gps_msg = sensor_time;
this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R });
this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R });
}
@@ -589,12 +588,12 @@ void Localizer::handle_msg(const cereal::Event::Reader& log) {
this->handle_sensor(t, log.getAccelerometer());
} else if (log.isGyroscope()) {
this->handle_sensor(t, log.getGyroscope());
} else if (log.isGpsLocation()) {
this->handle_gps(t, log.getGpsLocation(), GPS_QUECTEL_SENSOR_TIME_OFFSET);
} else if (log.isGpsLocationExternal()) {
this->handle_gps(t, log.getGpsLocationExternal(), GPS_UBLOX_SENSOR_TIME_OFFSET);
//} else if (log.isGnssMeasurements()) {
// this->handle_gnss(t, log.getGnssMeasurements());
//} else if (log.isGpsLocation()) {
// this->handle_gps(t, log.getGpsLocation(), GPS_QUECTEL_SENSOR_TIME_OFFSET);
//} else if (log.isGpsLocationExternal()) {
// this->handle_gps(t, log.getGpsLocationExternal(), GPS_UBLOX_SENSOR_TIME_OFFSET);
} else if (log.isGnssMeasurements()) {
this->handle_gnss(t, log.getGnssMeasurements());
} else if (log.isCarState()) {
this->handle_car_state(t, log.getCarState());
} else if (log.isCameraOdometry()) {