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laikad: Filter unwanted pseudoranges (#25051)

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Filter unwanted pseudoranges
old-commit-hash: b88d7c89fae448068aeaca65706d99aa145c8a74
This commit is contained in:
Gijs Koning
2022-07-06 19:01:19 +02:00
committed by GitHub
parent e2e7e4e456
commit 6e0a530bae
1 changed files with 3 additions and 0 deletions
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selfdrive/locationd/laikad.py
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@@ -103,6 +103,9 @@ class Laikad:
self.fetch_orbits(latest_msg_t + SECS_IN_MIN, block)
new_meas = read_raw_ublox(report)
# Filter measurements with unexpected pseudoranges for GPS and GLONASS satellites
new_meas = [m for m in new_meas if 1e7 < m.observables['C1C'] < 3e7]
processed_measurements = process_measurements(new_meas, self.astro_dog)
est_pos = self.get_est_pos(t, processed_measurements)