IMPORTANT CHECK

2020-02-11 17:41:02 -08:00 · 2020-02-11 17:41:02 -08:00 · 871d5b3c99
parent 980ef2a930
commit 871d5b3c99
1 changed files with 1 additions and 0 deletions
--- a/selfdrive/locationd/kalman/ekf_sym.py
+++ b/selfdrive/locationd/kalman/ekf_sym.py
@ -159,6 +159,7 @@ class EKF_sym():
    self.dim_err = P_initial.shape[0]
    assert dim_main + dim_augment*N == self.dim_x
    assert dim_main_err + dim_augment_err*N == self.dim_err
+    assert Q.shape == P_initial.shape

    # kinds that should get mahalanobis distance
    # tested for outlier rejection