openpilot v0.5.9 release

old-commit-hash: 0207a97040

common/params.py

@@ -67,6 +67,7 @@ keys = {
 # written: visiond
 # read:    visiond, controlsd
   "CalibrationParams": TxType.PERSISTENT,
+  "ControlsParams": TxType.PERSISTENT,
 # written: controlsd
 # read:    radard
   "CarParams": TxType.CLEAR_ON_CAR_START,

common/transformations/camera.py

@@ -29,21 +29,13 @@ view_frame_from_device_frame = device_frame_from_view_frame.T
 def get_calib_from_vp(vp):
   vp_norm = normalize(vp)
   yaw_calib = np.arctan(vp_norm[0])
-  pitch_calib = np.arctan(vp_norm[1]*np.cos(yaw_calib))
-  # TODO should be, this but written
-  # to be compatible with meshcalib and
-  # get_view_frame_from_road_fram
-  #pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
+  pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
   roll_calib = 0
   return roll_calib, pitch_calib, yaw_calib
 
 # aka 'extrinsic_matrix'
 # road : x->forward, y -> left, z->up
 def get_view_frame_from_road_frame(roll, pitch, yaw, height):
-  # TODO
-  # calibration pitch is currently defined
-  # opposite to pitch in device frame
-  pitch = -pitch
   device_from_road = orient.rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1]))
   view_from_road = view_frame_from_device_frame.dot(device_from_road)
   return np.hstack((view_from_road, [[0], [height], [0]]))