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gps can be bad in cities (#21270)

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old-commit-hash: 9a2306e008
This commit is contained in:
HaraldSchafer
2021-06-15 10:17:20 -07:00
committed by GitHub
parent 196f96f057
commit 1cbda7bac0
1 changed files with 1 additions and 1 deletions
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selfdrive/locationd/locationd.cc
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@@ -281,7 +281,7 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R
LOGE("Locationd vs ubloxLocation orientation difference too large, kalman reset");
this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos);
this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_ORIENTATION_FROM_GPS, { initial_pose_ecef_quat });
} else if (gps_est_error > 50.0) {
} else if (gps_est_error > 100.0) {
LOGE("Locationd vs ubloxLocation position difference too large, kalman reset");
this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos);
}