From f9a9b1ddf92812b071e36a677102d458bc94ff35 Mon Sep 17 00:00:00 2001 From: dragonpilot Date: Mon, 2 Sep 2019 15:35:01 +1000 Subject: [PATCH] increase sensor_data_age and posenet_invalid_count in paramsd.cc to reduce errors (perhaps caused by additional loads?) --- selfdrive/locationd/paramsd.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/locationd/paramsd.cc b/selfdrive/locationd/paramsd.cc index 2d9f11b3e..f3bc6a5d7 100644 --- a/selfdrive/locationd/paramsd.cc +++ b/selfdrive/locationd/paramsd.cc @@ -150,13 +150,13 @@ int main(int argc, char *argv[]) { live_params.setValid(valid); live_params.setYawRate(localizer.x[0]); live_params.setGyroBias(localizer.x[1]); - live_params.setSensorValid(sensor_data_age < 5.0); + live_params.setSensorValid(sensor_data_age < 10.0); live_params.setAngleOffset(angle_offset_degrees); live_params.setAngleOffsetAverage(angle_offset_average_degrees); live_params.setStiffnessFactor(learner.x); live_params.setSteerRatio(learner.sR); live_params.setPosenetSpeed(localizer.posenet_speed); - live_params.setPosenetValid(posenet_invalid_count < 4); + live_params.setPosenetValid(posenet_invalid_count < 8); auto words = capnp::messageToFlatArray(msg); auto bytes = words.asBytes();