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needed for stability

albatross
Harald Schafer 2020-05-21 17:47:05 -07:00
parent fcf879d783
commit 00e05bc7d8
1 changed files with 1 additions and 1 deletions
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selfdrive/locationd/models/live_kf.py
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@ -168,7 +168,7 @@ class LiveKalman():
h_acc_sym = (gravity + acceleration)
h_phone_rot_sym = sp.Matrix([vroll, vpitch, vyaw])
speed = sp.sqrt(vx**2 + vy**2 + vz**2)
speed = sp.sqrt(vx**2 + vy**2 + vz**2 + 1e-6)
h_speed_sym = sp.Matrix([speed * odo_scale])
h_pos_sym = sp.Matrix([x, y, z])