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Laikad: fix bad init elevation incorrect (#27974)

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* Laikad: fix bad init elevation incorrect

* update ref
old-commit-hash: 922b09de96201e4c0d1cdf6027dc07b1d76902d0
This commit is contained in:
Harald Schäfer
2023-04-19 14:04:24 -07:00
committed by GitHub
parent 51216976d9
commit fc6a779d12
3 changed files with 5 additions and 3 deletions
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laika_repo
+1 -1
Submodule laika_repo updated: 6fadabd860...e932f32ab9
selfdrive/locationd/laikad.py
+3 -1
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@@ -254,9 +254,11 @@ class Laikad:
processed_measurements = process_measurements(new_meas, self.astro_dog)
if self.last_fix_pos is not None:
est_pos = self.last_fix_pos
correct_delay = True
else:
est_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist()
corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog)
correct_delay = False
corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog, correct_delay=correct_delay)
return corrected_measurements
def calc_fix(self, t, measurements):
selfdrive/test/process_replay/ref_commit
+1 -1
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@@ -1 +1 @@
818a0f25985c95bb56e54a4ac3cfb3126e6044e2
28ac0bf6aa9142446917301071cf03797a724bf2