commit 235e2d9764761a071fd5f2283002be3dd89dc0d6
author Austin Schuh <austin.linux@gmail.com> Wed Apr 06 17:04:39 2022 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed Apr 06 17:05:23 2022 -0700
tree bd0feeceb3f04e573f80fcf0f17a92472102a4a8
parent c8f63d98a8ef58d8c1bc525cad6b7fafb758b6a4

Trust vision more in the localizer

Change-Id: Ia5dfa194c6fed344be889e7fda0fc6782446b45a
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2022/localizer/localizer.cc

diff --git a/y2022/localizer/localizer.cc b/y2022/localizer/localizer.cc
index 3f8e13d..783d368 100644
--- a/y2022/localizer/localizer.cc
+++ b/y2022/localizer/localizer.cc
@@ -642,7 +642,7 @@
   H_model(1, kY) = 1.0;
   H_accel(0, kX) = 1.0;
   H_accel(1, kY) = 1.0;
-  R.diagonal() << 1e-0, 1e-0;
+  R.diagonal() << 1e-2, 1e-2;
 
   const Eigen::Matrix<double, kNModelStates, 2> K_model =
       P_model_ * H_model.transpose() *