Tune down localizer CPU usage
This brings the current iteration to ~70%, and causes us to start to
reach diminishing returns for this knob.
Change-Id: I6f815dde4e07ff3535d814ecf7990b7f2dc01de0
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2022/localizer/localizer.h b/y2022/localizer/localizer.h
index d7b6a23..34f4c7a 100644
--- a/y2022/localizer/localizer.h
+++ b/y2022/localizer/localizer.h
@@ -92,7 +92,7 @@
// Branching period, in cycles.
// Needs 10 to even stay alive, and still at ~96% CPU.
// ~20 gives ~55-60% CPU.
- static constexpr int kBranchPeriod = 20;
+ static constexpr int kBranchPeriod = 100;
typedef Eigen::Matrix<double, kNModelStates, 1> ModelState;
typedef Eigen::Matrix<double, kNAccelStates, 1> AccelState;