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Qcom localizer: erratic clocks have an erratic error rate too (#28654)

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Erratic clocks drift erratically too
old-commit-hash: af9edb020ddd3d12db8acd531180a8b77ae95225
This commit is contained in:
Harald Schäfer
2023-06-23 09:44:37 -07:00
committed by GitHub
parent 29310fc6d9
commit 86b8e2eb8c
1 changed files with 3 additions and 2 deletions
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selfdrive/locationd/models/loc_kf.py
+3 -2
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@@ -334,12 +334,13 @@ class LocKalman():
# process noise
clock_error_drift = 100.0 if erratic_clock else 0.1
q_clock_error = 100.0 if erratic_clock else 0.1
q_clock_error_rate = 10 if erratic_clock else 0.0
self.Q = np.diag([0.03**2, 0.03**2, 0.03**2,
0.0**2, 0.0**2, 0.0**2,
0.0**2, 0.0**2, 0.0**2,
0.1**2, 0.1**2, 0.1**2,
(clock_error_drift)**2, (0)**2,
(q_clock_error)**2, (q_clock_error_rate)**2,
(0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2,
(0.02 / 100)**2,
3**2, 3**2, 3**2,