From 2d91aa5abc44db65202f752e93d134683346241d Mon Sep 17 00:00:00 2001 From: Suyog Shinde <64534620+SuyogShinde942@users.noreply.github.com> Date: Thu, 11 Dec 2025 21:24:32 -0600 Subject: [PATCH] locationd: fix velocity calibration using wrong pose field (#36844) --- selfdrive/locationd/helpers.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py index bf4588a40..2a3ac8b86 100644 --- a/selfdrive/locationd/helpers.py +++ b/selfdrive/locationd/helpers.py @@ -172,7 +172,7 @@ class PoseCalibrator: ned_from_calib_euler = self._ned_from_calib(pose.orientation) angular_velocity_calib = self._transform_calib_from_device(pose.angular_velocity) acceleration_calib = self._transform_calib_from_device(pose.acceleration) - velocity_calib = self._transform_calib_from_device(pose.angular_velocity) + velocity_calib = self._transform_calib_from_device(pose.velocity) return Pose(ned_from_calib_euler, velocity_calib, acceleration_calib, angular_velocity_calib)