Revert ecef std until real fix (#22982)

* too low * update refs Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
2021-11-19 12:49:32 -08:00 · 2021-11-19 12:49:32 -08:00 · 94d59314e2
parent 80940b9844
commit 94d59314e2
2 changed files with 3 additions and 3 deletions
--- a/selfdrive/locationd/models/live_kf.py
+++ b/selfdrive/locationd/models/live_kf.py
@ -57,8 +57,8 @@ class LiveKalman():
                        0, 0, 0])

  # state covariance
-  initial_P_diag = np.array([10**2, 10**2, 10**2,
-                             0.01**2, 0.01**2, 0.01**2,
+  initial_P_diag = np.array([1e3**2, 1e3**2, 1e3**2,
+                             0.5**2, 0.5**2, 0.5**2,
                             10**2, 10**2, 10**2,
                             1**2, 1**2, 1**2,
                             1**2, 1**2, 1**2,
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-848bc88a069b182d6f50698dd785ba360915e8dc
+567866c06976f8f95fa7d1670b51d8723e663ea1