paramsd: allow uncalibrated values while calibrating (#34852)

* Use uncalibrated values

* Use calib_valid

* Move valids together

* Add calibration valid field

* Add migration block for new field

* No paramsdTemporaryError while calibrating

* comment

* Fix static issues

* Update ref commit

* Comment

* Remove redundant field

* check for calstatus in selfdrived

* Remove comment

* Update ref commit

selfdrive/locationd/paramsd.py

@@ -52,14 +52,14 @@ class ParamsLearner:
       device_pose = Pose.from_live_pose(msg)
       calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)
 
-      yaw_rate_valid = msg.angularVelocityDevice.valid and self.calibrator.calib_valid
+      yaw_rate_valid = msg.angularVelocityDevice.valid
       yaw_rate_valid = yaw_rate_valid and 0 < self.yaw_rate_std < 10  # rad/s
       yaw_rate_valid = yaw_rate_valid and abs(self.yaw_rate) < 1  # rad/s
       if yaw_rate_valid:
         self.yaw_rate, self.yaw_rate_std = calibrated_pose.angular_velocity.z, calibrated_pose.angular_velocity.z_std
       else:
         # This is done to bound the yaw rate estimate when localizer values are invalid or calibrating
-        self.yaw_rate, self.yaw_rate_std = 0.0, np.radians(1)
+        self.yaw_rate, self.yaw_rate_std = 0.0, np.radians(10.0)
 
       localizer_roll, localizer_roll_std = device_pose.orientation.x, device_pose.orientation.x_std
       localizer_roll_std = np.radians(1) if np.isnan(localizer_roll_std) else localizer_roll_std
@@ -225,13 +225,13 @@ def main():
       liveParameters.posenetValid = True
       liveParameters.sensorValid = sensors_valid
       liveParameters.steerRatio = float(x[States.STEER_RATIO].item())
-      liveParameters.steerRatioValid = min_sr <= liveParameters.steerRatio <= max_sr
       liveParameters.stiffnessFactor = float(x[States.STIFFNESS].item())
-      liveParameters.stiffnessFactorValid = 0.2 <= liveParameters.stiffnessFactor <= 5.0
       liveParameters.roll = float(roll)
       liveParameters.angleOffsetAverageDeg = float(angle_offset_average)
-      liveParameters.angleOffsetAverageValid = bool(avg_offset_valid)
       liveParameters.angleOffsetDeg = float(angle_offset)
+      liveParameters.steerRatioValid = min_sr <= liveParameters.steerRatio <= max_sr
+      liveParameters.stiffnessFactorValid = 0.2 <= liveParameters.stiffnessFactor <= 5.0
+      liveParameters.angleOffsetAverageValid = bool(avg_offset_valid)
       liveParameters.angleOffsetValid = bool(total_offset_valid)
       liveParameters.valid = all((
         liveParameters.angleOffsetAverageValid,

selfdrive/selfdrived/selfdrived.py

@@ -305,7 +305,7 @@ class SelfdriveD:
         self.events.add(EventName.posenetInvalid)
       if not self.sm['livePose'].inputsOK:
         self.events.add(EventName.locationdTemporaryError)
-      if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
+      if not self.sm['liveParameters'].valid and cal_status == log.LiveCalibrationData.Status.calibrated and not TESTING_CLOSET and (not SIMULATION or REPLAY):
         self.events.add(EventName.paramsdTemporaryError)
 
     # conservative HW alert. if the data or frequency are off, locationd will throw an error

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-37041a45841e83f0641ef1e87c0e567181d47172
+98672ccf23dc08fcd08b53cae3ec305c04219fe8