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Use standstill flag in locationd (#20838)

albatross
Willem Melching 2021-05-06 22:13:13 +02:00 committed by GitHub
parent 7cc56edcf4
commit fc3da5eaf9
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2 changed files with 2 additions and 3 deletions
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3
selfdrive/locationd/locationd.cc
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@ -245,9 +245,8 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R
}
void Localizer::handle_car_state(double current_time, const cereal::CarState::Reader& log) {
//this->kf->predict_and_observe(current_time, OBSERVATION_ODOMETRIC_SPEED, { (VectorXd(1) << log.getVEgoRaw()).finished() });
this->car_speed = std::abs(log.getVEgo());
if (this->car_speed < 1e-3) {
if (log.getStandstill()) {
this->kf->predict_and_observe(current_time, OBSERVATION_NO_ROT, { Vector3d(0.0, 0.0, 0.0) });
}
}

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
fcfadaaad7f452fdbb69c1057058327b0d2004bf
e9db5723ef348954118643501a92cf0715402fea