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add a note in loc_kf (#23082)

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old-commit-hash: b57f55088e
This commit is contained in:
Vivek Aithal
2021-11-30 10:51:32 -08:00
committed by GitHub
parent 4d9d215996
commit b2ddfb3719
1 changed files with 2 additions and 1 deletions
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selfdrive/locationd/models/loc_kf.py
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@@ -50,6 +50,8 @@ class States():
CLOCK_ACCELERATION = slice(28, 29) # clock acceleration in light-meters/s**2,
ACCELEROMETER_SCALE = slice(29, 30) # scale of mems accelerometer
ACCELEROMETER_BIAS = slice(30, 33) # bias of mems accelerometer
# We curently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_OFFSET).
# From experiments we see that ACCELEROMETER_BIAS is more correct than ACCELEROMETER_SCALE
# Error-state has different slices because it is an ESKF
ECEF_POS_ERR = slice(0, 3)
@@ -159,7 +161,6 @@ class LocKalman():
glonass_bias = state[States.GLONASS_BIAS, :]
glonass_freq_slope = state[States.GLONASS_FREQ_SLOPE, :]
ca = state[States.CLOCK_ACCELERATION, :]
# accel_scale = state[States.ACCELEROMETER_SCALE, :]
accel_bias = state[States.ACCELEROMETER_BIAS, :]
dt = sp.Symbol('dt')