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Update locationd (#20410)

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* this was too extreme

* unused import

* capnp wants bools

* update refs
old-commit-hash: 8bddaa7607e659c1cb247b448684d716257a3158
This commit is contained in:
HaraldSchafer
2021-03-19 17:12:34 -07:00
committed by GitHub
parent 4ce5e08ded
commit cf6c7cb2b8
4 changed files with 16 additions and 16 deletions
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selfdrive/locationd/models/live_kf.py
+1 -1
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@@ -201,7 +201,7 @@ class LiveKalman():
ObservationKind.PHONE_ACCEL: np.diag([.5**2, .5**2, .5**2]),
ObservationKind.CAMERA_ODO_ROTATION: np.diag([0.05**2, 0.05**2, 0.05**2]),
ObservationKind.IMU_FRAME: np.diag([0.05**2, 0.05**2, 0.05**2]),
ObservationKind.NO_ROT: np.diag([0.00025**2, 0.00025**2, 0.00025**2]),
ObservationKind.NO_ROT: np.diag([0.005**2, 0.005**2, 0.005**2]),
ObservationKind.ECEF_POS: np.diag([5**2, 5**2, 5**2]),
ObservationKind.ECEF_VEL: np.diag([.5**2, .5**2, .5**2]),
ObservationKind.ECEF_ORIENTATION_FROM_GPS: np.diag([.2**2, .2**2, .2**2, .2**2])}