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livePose log (#32868)

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* add livepose

* Formatting

* Add to sevices

* Update locationd to publish livePose

* Remove fields and increase decimation

* Fix field indices

* Remove the line

* Add livePose to pubmaster

* Fix llk decimation

* Update ref commit

* XYZ measurements instead of lists

* Update locationd

* Update ref commit

* Lower the qlog size in test_onroad

* Update lower and upper boundary

---------

Co-authored-by: Kacper Rączy <gfw.kra@gmail.com>
old-commit-hash: 996bced674e6943976f1d6dba37075e113bf9288
This commit is contained in:
Harald Schäfer
2024-07-17 16:17:23 -07:00
committed by GitHub
parent a3aa8c5eaf
commit 28a91c4e23
7 changed files with 117 additions and 22 deletions
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selfdrive/locationd/locationd.h
+5 -2
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@@ -45,9 +45,12 @@ public:
bool are_inputs_ok();
void observation_timings_invalid_reset();
kj::ArrayPtr<capnp::byte> get_message_bytes(MessageBuilder& msg_builder,
bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid);
void build_location_message(
MessageBuilder& msg_builder, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid);
void build_pose_message(
MessageBuilder& msg_builder, MessageBuilder& location_msg_builder, bool inputsOK, bool sensorsOK, bool msgValid);
void build_live_location(cereal::LiveLocationKalman::Builder& fix);
void build_live_pose(cereal::LivePose::Builder& livePose, cereal::LiveLocationKalman::Reader& liveLocation);
Eigen::VectorXd get_position_geodetic();
Eigen::VectorXd get_state();