From efd73a3f1cd77c48cece3315d374048d63c4edd0 Mon Sep 17 00:00:00 2001 From: Jannik Beyerstedt Date: Mon, 22 Jun 2026 22:56:58 +0200 Subject: [PATCH] spat: tweak glosa params GNSS position accuracy with the L67K seems quite bad in some situations. So we need to increase the lane offset threshold. --- src/applogic/mod.rs | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/applogic/mod.rs b/src/applogic/mod.rs index bf3252a..1cbe9a4 100644 --- a/src/applogic/mod.rs +++ b/src/applogic/mod.rs @@ -31,13 +31,13 @@ const PRUNE_INTERVAL: chrono::Duration = chrono::Duration::seconds(5); #[cfg(feature = "spat")] const GLOSA_SEARCH_DIST_M: f32 = 400.; #[cfg(feature = "spat")] -const GLOSA_SEARCH_ANGLE_PARAMS: [(f32, f32); 2] = [(400., 45.), (50., 180.)]; // far and near (distance, angle) tuple +const GLOSA_SEARCH_ANGLE_PARAMS: [(f32, f32); 2] = [(400., 20.), (50., 180.)]; // far and near (distance, angle) tuple #[cfg(feature = "spat")] const GLOSA_LANE_HEADING_DIFF_DEG: f32 = 35.; #[cfg(feature = "spat")] -const GLOSA_AT_LANE_OFFSET_M: f64 = 10.; +const GLOSA_AT_LANE_OFFSET_M: f64 = 30.; #[cfg(feature = "spat")] -const GLOSA_LANE_LEFT_OFFSET_M: f64 = 20.; +const GLOSA_LANE_LEFT_OFFSET_M: f64 = 50.; #[cfg(feature = "spat")] const GLOSA_STOP_LINE_PASSED_M: f64 = 5.;