mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-16 14:52:15 +08:00
Powers You Never Knew You Had and What To Do With Them Now You've Wised Up
This commit is contained in:
firestar5683
@@ -1,2 +1,2 @@
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extern const uint8_t gitversion[19];
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const uint8_t gitversion[19] = "DEV-8f36c924-DEBUG";
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const uint8_t gitversion[19] = "DEV-6cdacd86-DEBUG";
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@@ -1 +1 @@
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DEV-8f36c924-DEBUG
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DEV-6cdacd86-DEBUG
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@@ -283,8 +283,6 @@ def main():
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filter_initialized = False
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critcal_services = ["accelerometer", "gyroscope", "cameraOdometry"]
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observation_input_invalid = defaultdict(int)
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last_inputs_diagnostics = None
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input_invalid_limit = {s: round(INPUT_INVALID_LIMIT * (SERVICE_LIST[s].frequency / 20.)) for s in critcal_services}
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input_invalid_threshold = {s: input_invalid_limit[s] - 0.5 for s in critcal_services}
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input_invalid_decay = {s: calculate_invalid_input_decay(input_invalid_limit[s], INPUT_INVALID_RECOVERY, SERVICE_LIST[s].frequency) for s in critcal_services}
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@@ -336,31 +334,6 @@ def main():
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inputs_valid = sm.all_valid() and critical_service_inputs_valid
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sensors_valid = sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION)
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invalid_services = [s for s, valid in sm.valid.items() if not valid]
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over_threshold = {
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s: round(float(observation_input_invalid[s]), 3)
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for s in critcal_services
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if observation_input_invalid[s] >= input_invalid_threshold[s]
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}
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inputs_diagnostics = {
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"inputs_valid": inputs_valid,
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"sensors_valid": sensors_valid,
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"filter_initialized": filter_initialized,
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"invalid_services": invalid_services,
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"over_threshold": over_threshold,
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}
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if not inputs_valid and inputs_diagnostics != last_inputs_diagnostics:
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cloudlog.event(
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"locationdInputsInvalid",
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error=True,
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**inputs_diagnostics,
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observation_input_invalid={s: round(float(observation_input_invalid[s]), 3) for s in critcal_services},
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observation_input_thresholds={s: float(input_invalid_threshold[s]) for s in critcal_services},
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)
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elif inputs_valid and last_inputs_diagnostics is not None:
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cloudlog.event("locationdInputsRecovered", **inputs_diagnostics)
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last_inputs_diagnostics = None if inputs_valid else inputs_diagnostics
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msg = estimator.get_msg(sensors_valid, inputs_valid, filter_initialized)
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pm.send("livePose", msg)
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@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
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* *
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* This file is part of 'ekf' *
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******************************************************************************/
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void err_fun(double *nom_x, double *delta_x, double *out_7026316075073471994) {
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out_7026316075073471994[0] = delta_x[0] + nom_x[0];
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out_7026316075073471994[1] = delta_x[1] + nom_x[1];
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out_7026316075073471994[2] = delta_x[2] + nom_x[2];
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out_7026316075073471994[3] = delta_x[3] + nom_x[3];
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out_7026316075073471994[4] = delta_x[4] + nom_x[4];
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out_7026316075073471994[5] = delta_x[5] + nom_x[5];
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out_7026316075073471994[6] = delta_x[6] + nom_x[6];
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out_7026316075073471994[7] = delta_x[7] + nom_x[7];
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out_7026316075073471994[8] = delta_x[8] + nom_x[8];
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void err_fun(double *nom_x, double *delta_x, double *out_2249508041139738373) {
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out_2249508041139738373[0] = delta_x[0] + nom_x[0];
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out_2249508041139738373[1] = delta_x[1] + nom_x[1];
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out_2249508041139738373[2] = delta_x[2] + nom_x[2];
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out_2249508041139738373[3] = delta_x[3] + nom_x[3];
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out_2249508041139738373[4] = delta_x[4] + nom_x[4];
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out_2249508041139738373[5] = delta_x[5] + nom_x[5];
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out_2249508041139738373[6] = delta_x[6] + nom_x[6];
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out_2249508041139738373[7] = delta_x[7] + nom_x[7];
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out_2249508041139738373[8] = delta_x[8] + nom_x[8];
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}
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void inv_err_fun(double *nom_x, double *true_x, double *out_4587773260780687079) {
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out_4587773260780687079[0] = -nom_x[0] + true_x[0];
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out_4587773260780687079[1] = -nom_x[1] + true_x[1];
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out_4587773260780687079[2] = -nom_x[2] + true_x[2];
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out_4587773260780687079[3] = -nom_x[3] + true_x[3];
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out_4587773260780687079[4] = -nom_x[4] + true_x[4];
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out_4587773260780687079[5] = -nom_x[5] + true_x[5];
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out_4587773260780687079[6] = -nom_x[6] + true_x[6];
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out_4587773260780687079[7] = -nom_x[7] + true_x[7];
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out_4587773260780687079[8] = -nom_x[8] + true_x[8];
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void inv_err_fun(double *nom_x, double *true_x, double *out_4788524825292355547) {
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out_4788524825292355547[0] = -nom_x[0] + true_x[0];
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out_4788524825292355547[1] = -nom_x[1] + true_x[1];
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out_4788524825292355547[2] = -nom_x[2] + true_x[2];
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out_4788524825292355547[3] = -nom_x[3] + true_x[3];
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out_4788524825292355547[4] = -nom_x[4] + true_x[4];
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out_4788524825292355547[5] = -nom_x[5] + true_x[5];
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out_4788524825292355547[6] = -nom_x[6] + true_x[6];
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out_4788524825292355547[7] = -nom_x[7] + true_x[7];
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out_4788524825292355547[8] = -nom_x[8] + true_x[8];
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}
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void H_mod_fun(double *state, double *out_255548955770617621) {
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out_255548955770617621[0] = 1.0;
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out_255548955770617621[1] = 0.0;
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out_255548955770617621[2] = 0.0;
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out_255548955770617621[3] = 0.0;
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out_255548955770617621[4] = 0.0;
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out_255548955770617621[5] = 0.0;
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out_255548955770617621[6] = 0.0;
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out_255548955770617621[7] = 0.0;
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out_255548955770617621[8] = 0.0;
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out_255548955770617621[9] = 0.0;
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out_255548955770617621[10] = 1.0;
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out_255548955770617621[11] = 0.0;
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out_255548955770617621[12] = 0.0;
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out_255548955770617621[13] = 0.0;
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out_255548955770617621[14] = 0.0;
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out_255548955770617621[15] = 0.0;
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out_255548955770617621[16] = 0.0;
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out_255548955770617621[17] = 0.0;
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out_255548955770617621[18] = 0.0;
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out_255548955770617621[19] = 0.0;
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out_255548955770617621[20] = 1.0;
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out_255548955770617621[21] = 0.0;
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out_255548955770617621[22] = 0.0;
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out_255548955770617621[23] = 0.0;
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out_255548955770617621[24] = 0.0;
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out_255548955770617621[25] = 0.0;
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out_255548955770617621[26] = 0.0;
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out_255548955770617621[27] = 0.0;
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out_255548955770617621[28] = 0.0;
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out_255548955770617621[29] = 0.0;
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out_255548955770617621[30] = 1.0;
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out_255548955770617621[31] = 0.0;
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out_255548955770617621[32] = 0.0;
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out_255548955770617621[33] = 0.0;
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out_255548955770617621[34] = 0.0;
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out_255548955770617621[35] = 0.0;
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out_255548955770617621[36] = 0.0;
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out_255548955770617621[37] = 0.0;
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out_255548955770617621[38] = 0.0;
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out_255548955770617621[39] = 0.0;
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out_255548955770617621[40] = 1.0;
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out_255548955770617621[41] = 0.0;
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out_255548955770617621[42] = 0.0;
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out_255548955770617621[43] = 0.0;
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out_255548955770617621[44] = 0.0;
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out_255548955770617621[45] = 0.0;
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out_255548955770617621[46] = 0.0;
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out_255548955770617621[47] = 0.0;
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out_255548955770617621[48] = 0.0;
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out_255548955770617621[49] = 0.0;
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out_255548955770617621[50] = 1.0;
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out_255548955770617621[51] = 0.0;
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out_255548955770617621[52] = 0.0;
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out_255548955770617621[53] = 0.0;
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out_255548955770617621[54] = 0.0;
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out_255548955770617621[55] = 0.0;
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out_255548955770617621[56] = 0.0;
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out_255548955770617621[57] = 0.0;
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out_255548955770617621[58] = 0.0;
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out_255548955770617621[59] = 0.0;
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out_255548955770617621[60] = 1.0;
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out_255548955770617621[61] = 0.0;
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out_255548955770617621[62] = 0.0;
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out_255548955770617621[63] = 0.0;
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out_255548955770617621[64] = 0.0;
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out_255548955770617621[65] = 0.0;
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out_255548955770617621[66] = 0.0;
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out_255548955770617621[67] = 0.0;
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out_255548955770617621[68] = 0.0;
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out_255548955770617621[69] = 0.0;
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out_255548955770617621[70] = 1.0;
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out_255548955770617621[71] = 0.0;
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out_255548955770617621[72] = 0.0;
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out_255548955770617621[73] = 0.0;
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out_255548955770617621[74] = 0.0;
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out_255548955770617621[75] = 0.0;
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out_255548955770617621[76] = 0.0;
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out_255548955770617621[77] = 0.0;
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out_255548955770617621[78] = 0.0;
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out_255548955770617621[79] = 0.0;
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out_255548955770617621[80] = 1.0;
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void H_mod_fun(double *state, double *out_5143375091155045702) {
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out_5143375091155045702[0] = 1.0;
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out_5143375091155045702[1] = 0.0;
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out_5143375091155045702[2] = 0.0;
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out_5143375091155045702[3] = 0.0;
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out_5143375091155045702[4] = 0.0;
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out_5143375091155045702[5] = 0.0;
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out_5143375091155045702[6] = 0.0;
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out_5143375091155045702[7] = 0.0;
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out_5143375091155045702[8] = 0.0;
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out_5143375091155045702[9] = 0.0;
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out_5143375091155045702[10] = 1.0;
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out_5143375091155045702[11] = 0.0;
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out_5143375091155045702[12] = 0.0;
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out_5143375091155045702[13] = 0.0;
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out_5143375091155045702[14] = 0.0;
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out_5143375091155045702[15] = 0.0;
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out_5143375091155045702[16] = 0.0;
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out_5143375091155045702[17] = 0.0;
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out_5143375091155045702[18] = 0.0;
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out_5143375091155045702[19] = 0.0;
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out_5143375091155045702[20] = 1.0;
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out_5143375091155045702[21] = 0.0;
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out_5143375091155045702[22] = 0.0;
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out_5143375091155045702[23] = 0.0;
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out_5143375091155045702[24] = 0.0;
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out_5143375091155045702[25] = 0.0;
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out_5143375091155045702[26] = 0.0;
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out_5143375091155045702[27] = 0.0;
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out_5143375091155045702[28] = 0.0;
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out_5143375091155045702[29] = 0.0;
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out_5143375091155045702[30] = 1.0;
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out_5143375091155045702[31] = 0.0;
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out_5143375091155045702[32] = 0.0;
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out_5143375091155045702[33] = 0.0;
|
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out_5143375091155045702[34] = 0.0;
|
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out_5143375091155045702[35] = 0.0;
|
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out_5143375091155045702[36] = 0.0;
|
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out_5143375091155045702[37] = 0.0;
|
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out_5143375091155045702[38] = 0.0;
|
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out_5143375091155045702[39] = 0.0;
|
||||
out_5143375091155045702[40] = 1.0;
|
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out_5143375091155045702[41] = 0.0;
|
||||
out_5143375091155045702[42] = 0.0;
|
||||
out_5143375091155045702[43] = 0.0;
|
||||
out_5143375091155045702[44] = 0.0;
|
||||
out_5143375091155045702[45] = 0.0;
|
||||
out_5143375091155045702[46] = 0.0;
|
||||
out_5143375091155045702[47] = 0.0;
|
||||
out_5143375091155045702[48] = 0.0;
|
||||
out_5143375091155045702[49] = 0.0;
|
||||
out_5143375091155045702[50] = 1.0;
|
||||
out_5143375091155045702[51] = 0.0;
|
||||
out_5143375091155045702[52] = 0.0;
|
||||
out_5143375091155045702[53] = 0.0;
|
||||
out_5143375091155045702[54] = 0.0;
|
||||
out_5143375091155045702[55] = 0.0;
|
||||
out_5143375091155045702[56] = 0.0;
|
||||
out_5143375091155045702[57] = 0.0;
|
||||
out_5143375091155045702[58] = 0.0;
|
||||
out_5143375091155045702[59] = 0.0;
|
||||
out_5143375091155045702[60] = 1.0;
|
||||
out_5143375091155045702[61] = 0.0;
|
||||
out_5143375091155045702[62] = 0.0;
|
||||
out_5143375091155045702[63] = 0.0;
|
||||
out_5143375091155045702[64] = 0.0;
|
||||
out_5143375091155045702[65] = 0.0;
|
||||
out_5143375091155045702[66] = 0.0;
|
||||
out_5143375091155045702[67] = 0.0;
|
||||
out_5143375091155045702[68] = 0.0;
|
||||
out_5143375091155045702[69] = 0.0;
|
||||
out_5143375091155045702[70] = 1.0;
|
||||
out_5143375091155045702[71] = 0.0;
|
||||
out_5143375091155045702[72] = 0.0;
|
||||
out_5143375091155045702[73] = 0.0;
|
||||
out_5143375091155045702[74] = 0.0;
|
||||
out_5143375091155045702[75] = 0.0;
|
||||
out_5143375091155045702[76] = 0.0;
|
||||
out_5143375091155045702[77] = 0.0;
|
||||
out_5143375091155045702[78] = 0.0;
|
||||
out_5143375091155045702[79] = 0.0;
|
||||
out_5143375091155045702[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_5905678958362697737) {
|
||||
out_5905678958362697737[0] = state[0];
|
||||
out_5905678958362697737[1] = state[1];
|
||||
out_5905678958362697737[2] = state[2];
|
||||
out_5905678958362697737[3] = state[3];
|
||||
out_5905678958362697737[4] = state[4];
|
||||
out_5905678958362697737[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
|
||||
out_5905678958362697737[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
|
||||
out_5905678958362697737[7] = state[7];
|
||||
out_5905678958362697737[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_223721292699517100) {
|
||||
out_223721292699517100[0] = state[0];
|
||||
out_223721292699517100[1] = state[1];
|
||||
out_223721292699517100[2] = state[2];
|
||||
out_223721292699517100[3] = state[3];
|
||||
out_223721292699517100[4] = state[4];
|
||||
out_223721292699517100[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
|
||||
out_223721292699517100[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
|
||||
out_223721292699517100[7] = state[7];
|
||||
out_223721292699517100[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_2348542156060617804) {
|
||||
out_2348542156060617804[0] = 1;
|
||||
out_2348542156060617804[1] = 0;
|
||||
out_2348542156060617804[2] = 0;
|
||||
out_2348542156060617804[3] = 0;
|
||||
out_2348542156060617804[4] = 0;
|
||||
out_2348542156060617804[5] = 0;
|
||||
out_2348542156060617804[6] = 0;
|
||||
out_2348542156060617804[7] = 0;
|
||||
out_2348542156060617804[8] = 0;
|
||||
out_2348542156060617804[9] = 0;
|
||||
out_2348542156060617804[10] = 1;
|
||||
out_2348542156060617804[11] = 0;
|
||||
out_2348542156060617804[12] = 0;
|
||||
out_2348542156060617804[13] = 0;
|
||||
out_2348542156060617804[14] = 0;
|
||||
out_2348542156060617804[15] = 0;
|
||||
out_2348542156060617804[16] = 0;
|
||||
out_2348542156060617804[17] = 0;
|
||||
out_2348542156060617804[18] = 0;
|
||||
out_2348542156060617804[19] = 0;
|
||||
out_2348542156060617804[20] = 1;
|
||||
out_2348542156060617804[21] = 0;
|
||||
out_2348542156060617804[22] = 0;
|
||||
out_2348542156060617804[23] = 0;
|
||||
out_2348542156060617804[24] = 0;
|
||||
out_2348542156060617804[25] = 0;
|
||||
out_2348542156060617804[26] = 0;
|
||||
out_2348542156060617804[27] = 0;
|
||||
out_2348542156060617804[28] = 0;
|
||||
out_2348542156060617804[29] = 0;
|
||||
out_2348542156060617804[30] = 1;
|
||||
out_2348542156060617804[31] = 0;
|
||||
out_2348542156060617804[32] = 0;
|
||||
out_2348542156060617804[33] = 0;
|
||||
out_2348542156060617804[34] = 0;
|
||||
out_2348542156060617804[35] = 0;
|
||||
out_2348542156060617804[36] = 0;
|
||||
out_2348542156060617804[37] = 0;
|
||||
out_2348542156060617804[38] = 0;
|
||||
out_2348542156060617804[39] = 0;
|
||||
out_2348542156060617804[40] = 1;
|
||||
out_2348542156060617804[41] = 0;
|
||||
out_2348542156060617804[42] = 0;
|
||||
out_2348542156060617804[43] = 0;
|
||||
out_2348542156060617804[44] = 0;
|
||||
out_2348542156060617804[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
|
||||
out_2348542156060617804[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_2348542156060617804[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2348542156060617804[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2348542156060617804[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
|
||||
out_2348542156060617804[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_2348542156060617804[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_2348542156060617804[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2348542156060617804[53] = -9.8100000000000005*dt;
|
||||
out_2348542156060617804[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
|
||||
out_2348542156060617804[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_2348542156060617804[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2348542156060617804[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2348542156060617804[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
|
||||
out_2348542156060617804[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_2348542156060617804[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
|
||||
out_2348542156060617804[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2348542156060617804[62] = 0;
|
||||
out_2348542156060617804[63] = 0;
|
||||
out_2348542156060617804[64] = 0;
|
||||
out_2348542156060617804[65] = 0;
|
||||
out_2348542156060617804[66] = 0;
|
||||
out_2348542156060617804[67] = 0;
|
||||
out_2348542156060617804[68] = 0;
|
||||
out_2348542156060617804[69] = 0;
|
||||
out_2348542156060617804[70] = 1;
|
||||
out_2348542156060617804[71] = 0;
|
||||
out_2348542156060617804[72] = 0;
|
||||
out_2348542156060617804[73] = 0;
|
||||
out_2348542156060617804[74] = 0;
|
||||
out_2348542156060617804[75] = 0;
|
||||
out_2348542156060617804[76] = 0;
|
||||
out_2348542156060617804[77] = 0;
|
||||
out_2348542156060617804[78] = 0;
|
||||
out_2348542156060617804[79] = 0;
|
||||
out_2348542156060617804[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_6998880572782646555) {
|
||||
out_6998880572782646555[0] = 1;
|
||||
out_6998880572782646555[1] = 0;
|
||||
out_6998880572782646555[2] = 0;
|
||||
out_6998880572782646555[3] = 0;
|
||||
out_6998880572782646555[4] = 0;
|
||||
out_6998880572782646555[5] = 0;
|
||||
out_6998880572782646555[6] = 0;
|
||||
out_6998880572782646555[7] = 0;
|
||||
out_6998880572782646555[8] = 0;
|
||||
out_6998880572782646555[9] = 0;
|
||||
out_6998880572782646555[10] = 1;
|
||||
out_6998880572782646555[11] = 0;
|
||||
out_6998880572782646555[12] = 0;
|
||||
out_6998880572782646555[13] = 0;
|
||||
out_6998880572782646555[14] = 0;
|
||||
out_6998880572782646555[15] = 0;
|
||||
out_6998880572782646555[16] = 0;
|
||||
out_6998880572782646555[17] = 0;
|
||||
out_6998880572782646555[18] = 0;
|
||||
out_6998880572782646555[19] = 0;
|
||||
out_6998880572782646555[20] = 1;
|
||||
out_6998880572782646555[21] = 0;
|
||||
out_6998880572782646555[22] = 0;
|
||||
out_6998880572782646555[23] = 0;
|
||||
out_6998880572782646555[24] = 0;
|
||||
out_6998880572782646555[25] = 0;
|
||||
out_6998880572782646555[26] = 0;
|
||||
out_6998880572782646555[27] = 0;
|
||||
out_6998880572782646555[28] = 0;
|
||||
out_6998880572782646555[29] = 0;
|
||||
out_6998880572782646555[30] = 1;
|
||||
out_6998880572782646555[31] = 0;
|
||||
out_6998880572782646555[32] = 0;
|
||||
out_6998880572782646555[33] = 0;
|
||||
out_6998880572782646555[34] = 0;
|
||||
out_6998880572782646555[35] = 0;
|
||||
out_6998880572782646555[36] = 0;
|
||||
out_6998880572782646555[37] = 0;
|
||||
out_6998880572782646555[38] = 0;
|
||||
out_6998880572782646555[39] = 0;
|
||||
out_6998880572782646555[40] = 1;
|
||||
out_6998880572782646555[41] = 0;
|
||||
out_6998880572782646555[42] = 0;
|
||||
out_6998880572782646555[43] = 0;
|
||||
out_6998880572782646555[44] = 0;
|
||||
out_6998880572782646555[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
|
||||
out_6998880572782646555[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_6998880572782646555[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6998880572782646555[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6998880572782646555[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
|
||||
out_6998880572782646555[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_6998880572782646555[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_6998880572782646555[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6998880572782646555[53] = -9.8100000000000005*dt;
|
||||
out_6998880572782646555[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
|
||||
out_6998880572782646555[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_6998880572782646555[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6998880572782646555[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6998880572782646555[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
|
||||
out_6998880572782646555[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_6998880572782646555[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
|
||||
out_6998880572782646555[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6998880572782646555[62] = 0;
|
||||
out_6998880572782646555[63] = 0;
|
||||
out_6998880572782646555[64] = 0;
|
||||
out_6998880572782646555[65] = 0;
|
||||
out_6998880572782646555[66] = 0;
|
||||
out_6998880572782646555[67] = 0;
|
||||
out_6998880572782646555[68] = 0;
|
||||
out_6998880572782646555[69] = 0;
|
||||
out_6998880572782646555[70] = 1;
|
||||
out_6998880572782646555[71] = 0;
|
||||
out_6998880572782646555[72] = 0;
|
||||
out_6998880572782646555[73] = 0;
|
||||
out_6998880572782646555[74] = 0;
|
||||
out_6998880572782646555[75] = 0;
|
||||
out_6998880572782646555[76] = 0;
|
||||
out_6998880572782646555[77] = 0;
|
||||
out_6998880572782646555[78] = 0;
|
||||
out_6998880572782646555[79] = 0;
|
||||
out_6998880572782646555[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_5870924613014703511) {
|
||||
out_5870924613014703511[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_6606540369410235194) {
|
||||
out_6606540369410235194[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_7665789077203242184) {
|
||||
out_7665789077203242184[0] = 0;
|
||||
out_7665789077203242184[1] = 0;
|
||||
out_7665789077203242184[2] = 0;
|
||||
out_7665789077203242184[3] = 0;
|
||||
out_7665789077203242184[4] = 0;
|
||||
out_7665789077203242184[5] = 0;
|
||||
out_7665789077203242184[6] = 1;
|
||||
out_7665789077203242184[7] = 0;
|
||||
out_7665789077203242184[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_8666423729800410850) {
|
||||
out_8666423729800410850[0] = 0;
|
||||
out_8666423729800410850[1] = 0;
|
||||
out_8666423729800410850[2] = 0;
|
||||
out_8666423729800410850[3] = 0;
|
||||
out_8666423729800410850[4] = 0;
|
||||
out_8666423729800410850[5] = 0;
|
||||
out_8666423729800410850[6] = 1;
|
||||
out_8666423729800410850[7] = 0;
|
||||
out_8666423729800410850[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_7175962086981114995) {
|
||||
out_7175962086981114995[0] = state[4];
|
||||
out_7175962086981114995[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_4049880123285190269) {
|
||||
out_4049880123285190269[0] = state[4];
|
||||
out_4049880123285190269[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_2919279750236733150) {
|
||||
out_2919279750236733150[0] = 0;
|
||||
out_2919279750236733150[1] = 0;
|
||||
out_2919279750236733150[2] = 0;
|
||||
out_2919279750236733150[3] = 0;
|
||||
out_2919279750236733150[4] = 1;
|
||||
out_2919279750236733150[5] = 0;
|
||||
out_2919279750236733150[6] = 0;
|
||||
out_2919279750236733150[7] = 0;
|
||||
out_2919279750236733150[8] = 0;
|
||||
out_2919279750236733150[9] = 0;
|
||||
out_2919279750236733150[10] = 0;
|
||||
out_2919279750236733150[11] = 0;
|
||||
out_2919279750236733150[12] = 0;
|
||||
out_2919279750236733150[13] = 0;
|
||||
out_2919279750236733150[14] = 1;
|
||||
out_2919279750236733150[15] = 0;
|
||||
out_2919279750236733150[16] = 0;
|
||||
out_2919279750236733150[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_5108498130998087714) {
|
||||
out_5108498130998087714[0] = 0;
|
||||
out_5108498130998087714[1] = 0;
|
||||
out_5108498130998087714[2] = 0;
|
||||
out_5108498130998087714[3] = 0;
|
||||
out_5108498130998087714[4] = 1;
|
||||
out_5108498130998087714[5] = 0;
|
||||
out_5108498130998087714[6] = 0;
|
||||
out_5108498130998087714[7] = 0;
|
||||
out_5108498130998087714[8] = 0;
|
||||
out_5108498130998087714[9] = 0;
|
||||
out_5108498130998087714[10] = 0;
|
||||
out_5108498130998087714[11] = 0;
|
||||
out_5108498130998087714[12] = 0;
|
||||
out_5108498130998087714[13] = 0;
|
||||
out_5108498130998087714[14] = 1;
|
||||
out_5108498130998087714[15] = 0;
|
||||
out_5108498130998087714[16] = 0;
|
||||
out_5108498130998087714[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_619120766018658974) {
|
||||
out_619120766018658974[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_164294856940115742) {
|
||||
out_164294856940115742[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_8262622037999060805) {
|
||||
out_8262622037999060805[0] = 0;
|
||||
out_8262622037999060805[1] = 0;
|
||||
out_8262622037999060805[2] = 0;
|
||||
out_8262622037999060805[3] = 0;
|
||||
out_8262622037999060805[4] = 1;
|
||||
out_8262622037999060805[5] = 0;
|
||||
out_8262622037999060805[6] = 0;
|
||||
out_8262622037999060805[7] = 0;
|
||||
out_8262622037999060805[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_1749733388308794095) {
|
||||
out_1749733388308794095[0] = 0;
|
||||
out_1749733388308794095[1] = 0;
|
||||
out_1749733388308794095[2] = 0;
|
||||
out_1749733388308794095[3] = 0;
|
||||
out_1749733388308794095[4] = 1;
|
||||
out_1749733388308794095[5] = 0;
|
||||
out_1749733388308794095[6] = 0;
|
||||
out_1749733388308794095[7] = 0;
|
||||
out_1749733388308794095[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_2561596907152652789) {
|
||||
out_2561596907152652789[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_767610741616593259) {
|
||||
out_767610741616593259[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_3924285758329185960) {
|
||||
out_3924285758329185960[0] = 0;
|
||||
out_3924285758329185960[1] = 0;
|
||||
out_3924285758329185960[2] = 0;
|
||||
out_3924285758329185960[3] = 0;
|
||||
out_3924285758329185960[4] = 0;
|
||||
out_3924285758329185960[5] = 0;
|
||||
out_3924285758329185960[6] = 0;
|
||||
out_3924285758329185960[7] = 1;
|
||||
out_3924285758329185960[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_6038817025035084542) {
|
||||
out_6038817025035084542[0] = 0;
|
||||
out_6038817025035084542[1] = 0;
|
||||
out_6038817025035084542[2] = 0;
|
||||
out_6038817025035084542[3] = 0;
|
||||
out_6038817025035084542[4] = 0;
|
||||
out_6038817025035084542[5] = 0;
|
||||
out_6038817025035084542[6] = 0;
|
||||
out_6038817025035084542[7] = 1;
|
||||
out_6038817025035084542[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_6474240497691181028) {
|
||||
out_6474240497691181028[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_9132294156050629254) {
|
||||
out_9132294156050629254[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_6039027966815117588) {
|
||||
out_6039027966815117588[0] = 0;
|
||||
out_6039027966815117588[1] = 0;
|
||||
out_6039027966815117588[2] = 0;
|
||||
out_6039027966815117588[3] = 1;
|
||||
out_6039027966815117588[4] = 0;
|
||||
out_6039027966815117588[5] = 0;
|
||||
out_6039027966815117588[6] = 0;
|
||||
out_6039027966815117588[7] = 0;
|
||||
out_6039027966815117588[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_3924496700109219006) {
|
||||
out_3924496700109219006[0] = 0;
|
||||
out_3924496700109219006[1] = 0;
|
||||
out_3924496700109219006[2] = 0;
|
||||
out_3924496700109219006[3] = 1;
|
||||
out_3924496700109219006[4] = 0;
|
||||
out_3924496700109219006[5] = 0;
|
||||
out_3924496700109219006[6] = 0;
|
||||
out_3924496700109219006[7] = 0;
|
||||
out_3924496700109219006[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_5627330291441514494) {
|
||||
out_5627330291441514494[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_2543614691308571426) {
|
||||
out_2543614691308571426[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_7752390693684668621) {
|
||||
out_7752390693684668621[0] = 0;
|
||||
out_7752390693684668621[1] = 1;
|
||||
out_7752390693684668621[2] = 0;
|
||||
out_7752390693684668621[3] = 0;
|
||||
out_7752390693684668621[4] = 0;
|
||||
out_7752390693684668621[5] = 0;
|
||||
out_7752390693684668621[6] = 0;
|
||||
out_7752390693684668621[7] = 0;
|
||||
out_7752390693684668621[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_5637859426978770039) {
|
||||
out_5637859426978770039[0] = 0;
|
||||
out_5637859426978770039[1] = 1;
|
||||
out_5637859426978770039[2] = 0;
|
||||
out_5637859426978770039[3] = 0;
|
||||
out_5637859426978770039[4] = 0;
|
||||
out_5637859426978770039[5] = 0;
|
||||
out_5637859426978770039[6] = 0;
|
||||
out_5637859426978770039[7] = 0;
|
||||
out_5637859426978770039[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_3437454446246848343) {
|
||||
out_3437454446246848343[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_3987404092934981717) {
|
||||
out_3987404092934981717[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_5611954362955352421) {
|
||||
out_5611954362955352421[0] = 1;
|
||||
out_5611954362955352421[1] = 0;
|
||||
out_5611954362955352421[2] = 0;
|
||||
out_5611954362955352421[3] = 0;
|
||||
out_5611954362955352421[4] = 0;
|
||||
out_5611954362955352421[5] = 0;
|
||||
out_5611954362955352421[6] = 0;
|
||||
out_5611954362955352421[7] = 0;
|
||||
out_5611954362955352421[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_7726485629661251003) {
|
||||
out_7726485629661251003[0] = 1;
|
||||
out_7726485629661251003[1] = 0;
|
||||
out_7726485629661251003[2] = 0;
|
||||
out_7726485629661251003[3] = 0;
|
||||
out_7726485629661251003[4] = 0;
|
||||
out_7726485629661251003[5] = 0;
|
||||
out_7726485629661251003[6] = 0;
|
||||
out_7726485629661251003[7] = 0;
|
||||
out_7726485629661251003[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_556316564325718304) {
|
||||
out_556316564325718304[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_6594936115065281760) {
|
||||
out_6594936115065281760[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_3298077656095834484) {
|
||||
out_3298077656095834484[0] = 0;
|
||||
out_3298077656095834484[1] = 0;
|
||||
out_3298077656095834484[2] = 0;
|
||||
out_3298077656095834484[3] = 0;
|
||||
out_3298077656095834484[4] = 0;
|
||||
out_3298077656095834484[5] = 0;
|
||||
out_3298077656095834484[6] = 0;
|
||||
out_3298077656095834484[7] = 0;
|
||||
out_3298077656095834484[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_8635777767923450422) {
|
||||
out_8635777767923450422[0] = 0;
|
||||
out_8635777767923450422[1] = 0;
|
||||
out_8635777767923450422[2] = 0;
|
||||
out_8635777767923450422[3] = 0;
|
||||
out_8635777767923450422[4] = 0;
|
||||
out_8635777767923450422[5] = 0;
|
||||
out_8635777767923450422[6] = 0;
|
||||
out_8635777767923450422[7] = 0;
|
||||
out_8635777767923450422[8] = 1;
|
||||
}
|
||||
#include <eigen3/Eigen/Dense>
|
||||
#include <iostream>
|
||||
@@ -518,68 +518,68 @@ void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, doubl
|
||||
void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
||||
update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31);
|
||||
}
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_7026316075073471994) {
|
||||
err_fun(nom_x, delta_x, out_7026316075073471994);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_2249508041139738373) {
|
||||
err_fun(nom_x, delta_x, out_2249508041139738373);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_4587773260780687079) {
|
||||
inv_err_fun(nom_x, true_x, out_4587773260780687079);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_4788524825292355547) {
|
||||
inv_err_fun(nom_x, true_x, out_4788524825292355547);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_255548955770617621) {
|
||||
H_mod_fun(state, out_255548955770617621);
|
||||
void car_H_mod_fun(double *state, double *out_5143375091155045702) {
|
||||
H_mod_fun(state, out_5143375091155045702);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_5905678958362697737) {
|
||||
f_fun(state, dt, out_5905678958362697737);
|
||||
void car_f_fun(double *state, double dt, double *out_223721292699517100) {
|
||||
f_fun(state, dt, out_223721292699517100);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_2348542156060617804) {
|
||||
F_fun(state, dt, out_2348542156060617804);
|
||||
void car_F_fun(double *state, double dt, double *out_6998880572782646555) {
|
||||
F_fun(state, dt, out_6998880572782646555);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_5870924613014703511) {
|
||||
h_25(state, unused, out_5870924613014703511);
|
||||
void car_h_25(double *state, double *unused, double *out_6606540369410235194) {
|
||||
h_25(state, unused, out_6606540369410235194);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_7665789077203242184) {
|
||||
H_25(state, unused, out_7665789077203242184);
|
||||
void car_H_25(double *state, double *unused, double *out_8666423729800410850) {
|
||||
H_25(state, unused, out_8666423729800410850);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_7175962086981114995) {
|
||||
h_24(state, unused, out_7175962086981114995);
|
||||
void car_h_24(double *state, double *unused, double *out_4049880123285190269) {
|
||||
h_24(state, unused, out_4049880123285190269);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_2919279750236733150) {
|
||||
H_24(state, unused, out_2919279750236733150);
|
||||
void car_H_24(double *state, double *unused, double *out_5108498130998087714) {
|
||||
H_24(state, unused, out_5108498130998087714);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_619120766018658974) {
|
||||
h_30(state, unused, out_619120766018658974);
|
||||
void car_h_30(double *state, double *unused, double *out_164294856940115742) {
|
||||
h_30(state, unused, out_164294856940115742);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_8262622037999060805) {
|
||||
H_30(state, unused, out_8262622037999060805);
|
||||
void car_H_30(double *state, double *unused, double *out_1749733388308794095) {
|
||||
H_30(state, unused, out_1749733388308794095);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_2561596907152652789) {
|
||||
h_26(state, unused, out_2561596907152652789);
|
||||
void car_h_26(double *state, double *unused, double *out_767610741616593259) {
|
||||
h_26(state, unused, out_767610741616593259);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_3924285758329185960) {
|
||||
H_26(state, unused, out_3924285758329185960);
|
||||
void car_H_26(double *state, double *unused, double *out_6038817025035084542) {
|
||||
H_26(state, unused, out_6038817025035084542);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_6474240497691181028) {
|
||||
h_27(state, unused, out_6474240497691181028);
|
||||
void car_h_27(double *state, double *unused, double *out_9132294156050629254) {
|
||||
h_27(state, unused, out_9132294156050629254);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_6039027966815117588) {
|
||||
H_27(state, unused, out_6039027966815117588);
|
||||
void car_H_27(double *state, double *unused, double *out_3924496700109219006) {
|
||||
H_27(state, unused, out_3924496700109219006);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_5627330291441514494) {
|
||||
h_29(state, unused, out_5627330291441514494);
|
||||
void car_h_29(double *state, double *unused, double *out_2543614691308571426) {
|
||||
h_29(state, unused, out_2543614691308571426);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_7752390693684668621) {
|
||||
H_29(state, unused, out_7752390693684668621);
|
||||
void car_H_29(double *state, double *unused, double *out_5637859426978770039) {
|
||||
H_29(state, unused, out_5637859426978770039);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_3437454446246848343) {
|
||||
h_28(state, unused, out_3437454446246848343);
|
||||
void car_h_28(double *state, double *unused, double *out_3987404092934981717) {
|
||||
h_28(state, unused, out_3987404092934981717);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_5611954362955352421) {
|
||||
H_28(state, unused, out_5611954362955352421);
|
||||
void car_H_28(double *state, double *unused, double *out_7726485629661251003) {
|
||||
H_28(state, unused, out_7726485629661251003);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_556316564325718304) {
|
||||
h_31(state, unused, out_556316564325718304);
|
||||
void car_h_31(double *state, double *unused, double *out_6594936115065281760) {
|
||||
h_31(state, unused, out_6594936115065281760);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_3298077656095834484) {
|
||||
H_31(state, unused, out_3298077656095834484);
|
||||
void car_H_31(double *state, double *unused, double *out_8635777767923450422) {
|
||||
H_31(state, unused, out_8635777767923450422);
|
||||
}
|
||||
void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
|
||||
predict(in_x, in_P, in_Q, dt);
|
||||
|
||||
@@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl
|
||||
void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_7026316075073471994);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_4587773260780687079);
|
||||
void car_H_mod_fun(double *state, double *out_255548955770617621);
|
||||
void car_f_fun(double *state, double dt, double *out_5905678958362697737);
|
||||
void car_F_fun(double *state, double dt, double *out_2348542156060617804);
|
||||
void car_h_25(double *state, double *unused, double *out_5870924613014703511);
|
||||
void car_H_25(double *state, double *unused, double *out_7665789077203242184);
|
||||
void car_h_24(double *state, double *unused, double *out_7175962086981114995);
|
||||
void car_H_24(double *state, double *unused, double *out_2919279750236733150);
|
||||
void car_h_30(double *state, double *unused, double *out_619120766018658974);
|
||||
void car_H_30(double *state, double *unused, double *out_8262622037999060805);
|
||||
void car_h_26(double *state, double *unused, double *out_2561596907152652789);
|
||||
void car_H_26(double *state, double *unused, double *out_3924285758329185960);
|
||||
void car_h_27(double *state, double *unused, double *out_6474240497691181028);
|
||||
void car_H_27(double *state, double *unused, double *out_6039027966815117588);
|
||||
void car_h_29(double *state, double *unused, double *out_5627330291441514494);
|
||||
void car_H_29(double *state, double *unused, double *out_7752390693684668621);
|
||||
void car_h_28(double *state, double *unused, double *out_3437454446246848343);
|
||||
void car_H_28(double *state, double *unused, double *out_5611954362955352421);
|
||||
void car_h_31(double *state, double *unused, double *out_556316564325718304);
|
||||
void car_H_31(double *state, double *unused, double *out_3298077656095834484);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_2249508041139738373);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_4788524825292355547);
|
||||
void car_H_mod_fun(double *state, double *out_5143375091155045702);
|
||||
void car_f_fun(double *state, double dt, double *out_223721292699517100);
|
||||
void car_F_fun(double *state, double dt, double *out_6998880572782646555);
|
||||
void car_h_25(double *state, double *unused, double *out_6606540369410235194);
|
||||
void car_H_25(double *state, double *unused, double *out_8666423729800410850);
|
||||
void car_h_24(double *state, double *unused, double *out_4049880123285190269);
|
||||
void car_H_24(double *state, double *unused, double *out_5108498130998087714);
|
||||
void car_h_30(double *state, double *unused, double *out_164294856940115742);
|
||||
void car_H_30(double *state, double *unused, double *out_1749733388308794095);
|
||||
void car_h_26(double *state, double *unused, double *out_767610741616593259);
|
||||
void car_H_26(double *state, double *unused, double *out_6038817025035084542);
|
||||
void car_h_27(double *state, double *unused, double *out_9132294156050629254);
|
||||
void car_H_27(double *state, double *unused, double *out_3924496700109219006);
|
||||
void car_h_29(double *state, double *unused, double *out_2543614691308571426);
|
||||
void car_H_29(double *state, double *unused, double *out_5637859426978770039);
|
||||
void car_h_28(double *state, double *unused, double *out_3987404092934981717);
|
||||
void car_H_28(double *state, double *unused, double *out_7726485629661251003);
|
||||
void car_h_31(double *state, double *unused, double *out_6594936115065281760);
|
||||
void car_H_31(double *state, double *unused, double *out_8635777767923450422);
|
||||
void car_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
void car_set_mass(double x);
|
||||
void car_set_rotational_inertia(double x);
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl
|
||||
void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_7641933708620610052);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_9128860405088658984);
|
||||
void pose_H_mod_fun(double *state, double *out_3103725176518788441);
|
||||
void pose_f_fun(double *state, double dt, double *out_5259001848744899041);
|
||||
void pose_F_fun(double *state, double dt, double *out_6765250644485775616);
|
||||
void pose_h_4(double *state, double *unused, double *out_6349780411594345580);
|
||||
void pose_H_4(double *state, double *unused, double *out_4301672658401686545);
|
||||
void pose_h_10(double *state, double *unused, double *out_1522297241205058892);
|
||||
void pose_H_10(double *state, double *unused, double *out_2231099772160491337);
|
||||
void pose_h_13(double *state, double *unused, double *out_9186389196897638740);
|
||||
void pose_H_13(double *state, double *unused, double *out_7513946483734019346);
|
||||
void pose_h_14(double *state, double *unused, double *out_60031468009030950);
|
||||
void pose_H_14(double *state, double *unused, double *out_1218884226106314249);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_6079659893886918220);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5200837164005369107);
|
||||
void pose_H_mod_fun(double *state, double *out_1320875044412644660);
|
||||
void pose_f_fun(double *state, double dt, double *out_4957392939814811366);
|
||||
void pose_F_fun(double *state, double dt, double *out_3660031818732653459);
|
||||
void pose_h_4(double *state, double *unused, double *out_4354770932396622955);
|
||||
void pose_H_4(double *state, double *unused, double *out_3140573770318941521);
|
||||
void pose_h_10(double *state, double *unused, double *out_8942219874713773227);
|
||||
void pose_H_10(double *state, double *unused, double *out_5705253479912587073);
|
||||
void pose_h_13(double *state, double *unused, double *out_5867183224538439243);
|
||||
void pose_H_13(double *state, double *unused, double *out_71700055013391280);
|
||||
void pose_h_14(double *state, double *unused, double *out_4155160495787210910);
|
||||
void pose_H_14(double *state, double *unused, double *out_822667086020543008);
|
||||
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
}
|
||||
@@ -125,7 +125,6 @@ class SelfdriveD:
|
||||
self.last_functional_fan_frame = 0
|
||||
self.events_prev = []
|
||||
self.logged_comm_issue = None
|
||||
self.logged_locationd_issue = None
|
||||
self.not_running_prev = None
|
||||
self.experimental_mode = False
|
||||
self.safe_mode = self.params.get_bool("SafeMode")
|
||||
@@ -172,22 +171,6 @@ class SelfdriveD:
|
||||
|
||||
self.FPCP = messaging.log_from_bytes(self.params.get("StarPilotCarParams", block=True), custom.StarPilotCarParams)
|
||||
|
||||
def _service_diagnostics(self, services: list[str]) -> dict[str, dict[str, object]]:
|
||||
diagnostics: dict[str, dict[str, object]] = {}
|
||||
for service in services:
|
||||
if service not in self.sm.services:
|
||||
continue
|
||||
|
||||
recv_age_ms = round(max(0.0, (self.sm.frame - self.sm.recv_frame[service]) * DT_CTRL * 1000.0), 1)
|
||||
diagnostics[service] = {
|
||||
"valid": self.sm.valid[service],
|
||||
"alive": self.sm.alive[service],
|
||||
"freq_ok": self.sm.freq_ok[service],
|
||||
"recv_age_ms": recv_age_ms,
|
||||
}
|
||||
|
||||
return diagnostics
|
||||
|
||||
def update_events(self, CS):
|
||||
"""Compute onroadEvents from carState"""
|
||||
|
||||
@@ -450,22 +433,7 @@ class SelfdriveD:
|
||||
'not_freq_ok': [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok],
|
||||
}
|
||||
if logs != self.logged_comm_issue:
|
||||
interesting_services = sorted(set(
|
||||
logs['invalid'] +
|
||||
logs['not_alive'] +
|
||||
logs['not_freq_ok'] +
|
||||
['liveCalibration', 'livePose', 'liveParameters', 'radarState', 'driverAssistance', 'longitudinalPlan']
|
||||
))
|
||||
cloudlog.event(
|
||||
"commIssue",
|
||||
error=True,
|
||||
**logs,
|
||||
service_diagnostics=self._service_diagnostics(interesting_services),
|
||||
nav_destination_active=self.params.get("NavDestination") is not None,
|
||||
navigation_ui=self.params.get_bool("NavigationUI"),
|
||||
can_timeout=CS.canTimeout,
|
||||
can_valid=CS.canValid,
|
||||
)
|
||||
cloudlog.event("commIssue", error=True, **logs)
|
||||
self.logged_comm_issue = logs
|
||||
else:
|
||||
self.logged_comm_issue = None
|
||||
@@ -475,18 +443,6 @@ class SelfdriveD:
|
||||
self.events.add(EventName.posenetInvalid)
|
||||
if not self.sm['livePose'].inputsOK:
|
||||
self.events.add(EventName.locationdTemporaryError)
|
||||
locationd_issue = {
|
||||
"inputs_ok": self.sm['livePose'].inputsOK,
|
||||
"posenet_ok": self.sm['livePose'].posenetOK,
|
||||
"live_pose_valid": self.sm.valid['livePose'],
|
||||
"live_calibration_valid": self.sm.valid['liveCalibration'],
|
||||
"live_parameters_valid": self.sm.valid['liveParameters'],
|
||||
}
|
||||
if locationd_issue != self.logged_locationd_issue:
|
||||
cloudlog.event("locationdTemporaryError", error=True, **locationd_issue)
|
||||
self.logged_locationd_issue = locationd_issue
|
||||
else:
|
||||
self.logged_locationd_issue = None
|
||||
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)
|
||||
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
from __future__ import annotations
|
||||
|
||||
import json
|
||||
import math
|
||||
from pathlib import Path
|
||||
|
||||
@@ -95,34 +96,37 @@ class NavigationCardRenderer(Widget):
|
||||
return self._icons[icon_name]
|
||||
|
||||
def _update_state(self) -> None:
|
||||
sm = ui_state.sm
|
||||
self._enabled = ui_state.params.get_bool("NavigationUI")
|
||||
self._valid = False
|
||||
|
||||
if not self._enabled:
|
||||
return
|
||||
if sm.recv_frame["navInstruction"] < ui_state.started_frame:
|
||||
return
|
||||
if not sm.valid.get("navInstruction", False):
|
||||
return
|
||||
|
||||
nav_instruction = sm["navInstruction"]
|
||||
if nav_instruction.maneuverPrimaryText == "":
|
||||
return
|
||||
|
||||
self._distance = _format_distance(float(nav_instruction.maneuverDistance), ui_state.is_metric)
|
||||
self._primary_text = nav_instruction.maneuverPrimaryText
|
||||
self._secondary_text = nav_instruction.maneuverSecondaryText
|
||||
self._maneuver_type = nav_instruction.maneuverType or "turn"
|
||||
self._modifier = nav_instruction.maneuverModifier or "straight"
|
||||
|
||||
maneuvers = nav_instruction.allManeuvers
|
||||
if len(maneuvers) > 1:
|
||||
self._has_next = True
|
||||
self._next_maneuver_type = maneuvers[1].type or "turn"
|
||||
self._next_modifier = maneuvers[1].modifier or "straight"
|
||||
raw_state = ui_state.params_memory.get("NavInstructionState") or {}
|
||||
if isinstance(raw_state, str):
|
||||
try:
|
||||
nav_state = json.loads(raw_state) if raw_state else {}
|
||||
except json.JSONDecodeError:
|
||||
return
|
||||
elif isinstance(raw_state, dict):
|
||||
nav_state = raw_state
|
||||
else:
|
||||
self._has_next = False
|
||||
return
|
||||
|
||||
if not nav_state.get("valid", False):
|
||||
return
|
||||
|
||||
if str(nav_state.get("maneuverPrimaryText") or "") == "":
|
||||
return
|
||||
|
||||
self._distance = _format_distance(float(nav_state.get("maneuverDistance", 0.0) or 0.0), ui_state.is_metric)
|
||||
self._primary_text = str(nav_state.get("maneuverPrimaryText") or "")
|
||||
self._secondary_text = str(nav_state.get("maneuverSecondaryText") or "")
|
||||
self._maneuver_type = str(nav_state.get("maneuverType") or "turn")
|
||||
self._modifier = str(nav_state.get("maneuverModifier") or "straight")
|
||||
self._next_maneuver_type = str(nav_state.get("nextManeuverType") or "turn")
|
||||
self._next_modifier = str(nav_state.get("nextManeuverModifier") or "straight")
|
||||
self._has_next = bool(nav_state.get("nextManeuverType") or nav_state.get("nextManeuverModifier"))
|
||||
|
||||
self._valid = True
|
||||
|
||||
|
||||
@@ -2,6 +2,8 @@
|
||||
|
||||
#include <algorithm>
|
||||
#include <QFileInfo>
|
||||
#include <QJsonDocument>
|
||||
#include <QJsonObject>
|
||||
#include <cmath>
|
||||
|
||||
#include "selfdrive/ui/qt/util.h"
|
||||
@@ -54,29 +56,38 @@ void HudRenderer::updateState(const UIState &s) {
|
||||
nav_next_maneuver_type.clear();
|
||||
nav_next_modifier.clear();
|
||||
|
||||
if (!navigation_enabled || sm.rcv_frame("navInstruction") < s.scene.started_frame ||
|
||||
!sm.alive("navInstruction") || !sm.valid("navInstruction")) {
|
||||
if (!navigation_enabled) {
|
||||
return;
|
||||
}
|
||||
|
||||
const auto &nav = sm["navInstruction"].getNavInstruction();
|
||||
nav_primary_text = QString::fromUtf8(nav.getManeuverPrimaryText().cStr()).trimmed();
|
||||
const std::string nav_state_raw = params_memory.get("NavInstructionState");
|
||||
if (nav_state_raw.empty()) {
|
||||
return;
|
||||
}
|
||||
|
||||
const QJsonDocument nav_state_doc = QJsonDocument::fromJson(QByteArray::fromStdString(nav_state_raw));
|
||||
if (!nav_state_doc.isObject()) {
|
||||
return;
|
||||
}
|
||||
|
||||
const QJsonObject nav = nav_state_doc.object();
|
||||
if (!nav.value("valid").toBool(false)) {
|
||||
return;
|
||||
}
|
||||
|
||||
nav_primary_text = nav.value("maneuverPrimaryText").toString().trimmed();
|
||||
if (nav_primary_text.isEmpty()) {
|
||||
return;
|
||||
}
|
||||
|
||||
navigation_valid = true;
|
||||
nav_secondary_text = QString::fromUtf8(nav.getManeuverSecondaryText().cStr()).trimmed();
|
||||
nav_distance = formatNavDistance(nav.getManeuverDistance());
|
||||
nav_maneuver_type = QString::fromUtf8(nav.getManeuverType().cStr()).trimmed();
|
||||
nav_modifier = QString::fromUtf8(nav.getManeuverModifier().cStr()).trimmed();
|
||||
|
||||
const auto maneuvers = nav.getAllManeuvers();
|
||||
if (maneuvers.size() > 1) {
|
||||
navigation_has_next = true;
|
||||
nav_next_maneuver_type = QString::fromUtf8(maneuvers[1].getType().cStr()).trimmed();
|
||||
nav_next_modifier = QString::fromUtf8(maneuvers[1].getModifier().cStr()).trimmed();
|
||||
}
|
||||
nav_secondary_text = nav.value("maneuverSecondaryText").toString().trimmed();
|
||||
nav_distance = formatNavDistance(static_cast<float>(nav.value("maneuverDistance").toDouble(0.0)));
|
||||
nav_maneuver_type = nav.value("maneuverType").toString().trimmed();
|
||||
nav_modifier = nav.value("maneuverModifier").toString().trimmed();
|
||||
nav_next_maneuver_type = nav.value("nextManeuverType").toString().trimmed();
|
||||
nav_next_modifier = nav.value("nextManeuverModifier").toString().trimmed();
|
||||
navigation_has_next = !nav_next_maneuver_type.isEmpty() || !nav_next_modifier.isEmpty();
|
||||
}
|
||||
|
||||
void HudRenderer::draw(QPainter &p, const QRect &surface_rect) {
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
#pragma once
|
||||
|
||||
#include <QHash>
|
||||
#include <QJsonObject>
|
||||
#include <QPainter>
|
||||
#include <QPixmap>
|
||||
#include "selfdrive/ui/ui.h"
|
||||
@@ -48,4 +49,5 @@ private:
|
||||
QString nav_next_modifier;
|
||||
QHash<QString, QPixmap> nav_icon_cache;
|
||||
Params params;
|
||||
Params params_memory{"", true};
|
||||
};
|
||||
|
||||
@@ -367,7 +367,6 @@ UIState::UIState(QObject *parent) : QObject(parent) {
|
||||
"modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
|
||||
"pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
|
||||
"wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
|
||||
"navInstruction",
|
||||
});
|
||||
prime_state = new PrimeState(this);
|
||||
language = QString::fromStdString(Params().get("LanguageSetting"));
|
||||
|
||||
@@ -54,7 +54,6 @@ class UIState:
|
||||
"longitudinalPlan",
|
||||
"gpsLocationExternal",
|
||||
"mapdOut",
|
||||
"navInstruction",
|
||||
"carOutput",
|
||||
"carControl",
|
||||
"liveParameters",
|
||||
|
||||
@@ -59,6 +59,8 @@ class StarPilotPlanner:
|
||||
self.raw_model_stopped = False
|
||||
self.road_curvature_detected = False
|
||||
self.tracking_lead = False
|
||||
self._last_gps_memory_state = ""
|
||||
self._last_gps_memory_write = 0.0
|
||||
self._prev_gps_bearing = 0
|
||||
|
||||
# Blinker-based lateral resume delay state
|
||||
@@ -110,11 +112,22 @@ class StarPilotPlanner:
|
||||
"latitude": gps_location.latitude,
|
||||
"longitude": gps_location.longitude,
|
||||
"bearing": gps_location.bearingDeg,
|
||||
"speed": v_ego,
|
||||
"hasFix": bool(getattr(gps_location, "hasFix", False)),
|
||||
"updatedAtMonotonic": time.monotonic(),
|
||||
}
|
||||
self.gps_valid = self.gps_position["latitude"] != 0 or self.gps_position["longitude"] != 0
|
||||
self.gps_valid = self.gps_position["hasFix"] and (self.gps_position["latitude"] != 0 or self.gps_position["longitude"] != 0)
|
||||
bearing = self.gps_position["bearing"]
|
||||
if self.gps_valid:
|
||||
gps_memory_state = json.dumps(_sanitize_json_value(self.gps_position), allow_nan=False)
|
||||
now_mono = self.gps_position["updatedAtMonotonic"]
|
||||
should_refresh_memory = gps_memory_state != self._last_gps_memory_state and (now_mono - self._last_gps_memory_write) >= 0.25
|
||||
if should_refresh_memory:
|
||||
self.params_memory.put_nonblocking("LastGPSPosition", gps_memory_state)
|
||||
self._last_gps_memory_state = gps_memory_state
|
||||
self._last_gps_memory_write = now_mono
|
||||
|
||||
if getattr(starpilot_toggles, "compass", False) and abs(bearing - self._prev_gps_bearing) > 0.5:
|
||||
self.params_memory.put("LastGPSPosition", json.dumps(self.gps_position))
|
||||
self._prev_gps_bearing = bearing
|
||||
|
||||
if v_ego >= starpilot_toggles.minimum_lane_change_speed:
|
||||
|
||||
@@ -1,11 +1,11 @@
|
||||
#!/usr/bin/env python3
|
||||
from __future__ import annotations
|
||||
import json
|
||||
import threading
|
||||
from math import isfinite
|
||||
from time import monotonic
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from openpilot.common.gps import get_gps_location_service
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import Ratekeeper
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
@@ -16,6 +16,7 @@ from openpilot.starpilot.navigation.route_engine import Coordinate, MapboxRouteE
|
||||
NAVIGATIOND_HZ = 1
|
||||
REROUTE_TRIGGER_SECONDS = 3.0
|
||||
ARRIVAL_CLEAR_SECONDS = 5.0
|
||||
LOCATION_STATE_STALE_SECONDS = 2.5
|
||||
|
||||
|
||||
class Navigationd:
|
||||
@@ -23,9 +24,7 @@ class Navigationd:
|
||||
self.params = Params()
|
||||
self.params_memory = Params(memory=True)
|
||||
self.route_engine = route_engine or MapboxRouteEngine()
|
||||
self.gps_location_service = get_gps_location_service(self.params)
|
||||
|
||||
self.sm = messaging.SubMaster([self.gps_location_service, "carState"])
|
||||
self.pm = messaging.PubMaster(["navInstruction", "navRoute"])
|
||||
self.rk = Ratekeeper(NAVIGATIOND_HZ)
|
||||
|
||||
@@ -124,24 +123,35 @@ class Navigationd:
|
||||
return None
|
||||
return started_at if started_at is not None else now
|
||||
|
||||
def _update_location(self) -> bool:
|
||||
if self.sm.recv_frame[self.gps_location_service] <= 0:
|
||||
return False
|
||||
def _update_location(self) -> tuple[bool, float]:
|
||||
raw_state = self.params_memory.get("LastGPSPosition", encoding="utf-8") or ""
|
||||
if not raw_state:
|
||||
return False, 0.0
|
||||
|
||||
gps = self.sm[self.gps_location_service]
|
||||
if gps is None or not gps.hasFix:
|
||||
return False
|
||||
try:
|
||||
gps_state = json.loads(raw_state)
|
||||
except json.JSONDecodeError:
|
||||
return False, 0.0
|
||||
|
||||
latitude = float(gps.latitude)
|
||||
longitude = float(gps.longitude)
|
||||
if not isinstance(gps_state, dict) or not gps_state.get("hasFix", False):
|
||||
return False, 0.0
|
||||
|
||||
latitude = float(gps_state.get("latitude", 0.0) or 0.0)
|
||||
longitude = float(gps_state.get("longitude", 0.0) or 0.0)
|
||||
if not isfinite(latitude) or not isfinite(longitude) or (abs(latitude) < 1e-6 and abs(longitude) < 1e-6):
|
||||
return False
|
||||
return False, 0.0
|
||||
|
||||
updated_at = float(gps_state.get("updatedAtMonotonic", 0.0) or 0.0)
|
||||
if updated_at > 0.0 and (monotonic() - updated_at) > LOCATION_STATE_STALE_SECONDS:
|
||||
return False, 0.0
|
||||
|
||||
self._last_position = Coordinate(latitude, longitude)
|
||||
|
||||
bearing = float(gps.bearingDeg)
|
||||
bearing = float(gps_state.get("bearing", 0.0) or 0.0)
|
||||
self._last_bearing = bearing if isfinite(bearing) else None
|
||||
return True
|
||||
|
||||
speed = float(gps_state.get("speed", 0.0) or 0.0)
|
||||
return True, max(speed, 0.0)
|
||||
|
||||
def _maybe_update_route(self, current_destination: dict[str, object] | None) -> tuple[NavigationRoute | None, dict[str, object] | None, int]:
|
||||
route, active_destination, route_generation = self._snapshot_route()
|
||||
@@ -240,17 +250,19 @@ class Navigationd:
|
||||
self._last_nav_state = None
|
||||
return
|
||||
|
||||
modifier = progress.current_step.modifier or ""
|
||||
if progress.current_step.banner_instructions:
|
||||
try:
|
||||
payload = route.build_instruction_payload(progress, use_vienna_sign=self.params.get_bool("UseVienna"))
|
||||
modifier = str(payload.get("maneuverModifier") or modifier)
|
||||
except Exception:
|
||||
pass
|
||||
payload = route.build_instruction_payload(progress, use_vienna_sign=self.params.get_bool("UseVienna"))
|
||||
all_maneuvers = payload.get("allManeuvers") or []
|
||||
next_maneuver = all_maneuvers[1] if len(all_maneuvers) > 1 and isinstance(all_maneuvers[1], dict) else {}
|
||||
|
||||
state = {
|
||||
"valid": True,
|
||||
"maneuverModifier": modifier,
|
||||
"maneuverModifier": str(payload.get("maneuverModifier") or ""),
|
||||
"maneuverType": str(payload.get("maneuverType") or ""),
|
||||
"maneuverPrimaryText": str(payload.get("maneuverPrimaryText") or ""),
|
||||
"maneuverSecondaryText": str(payload.get("maneuverSecondaryText") or ""),
|
||||
"maneuverDistance": float(payload.get("maneuverDistance") or 0.0),
|
||||
"nextManeuverType": str(next_maneuver.get("type") or ""),
|
||||
"nextManeuverModifier": str(next_maneuver.get("modifier") or ""),
|
||||
}
|
||||
if state != self._last_nav_state:
|
||||
self.params_memory.put_nonblocking("NavInstructionState", state)
|
||||
@@ -276,13 +288,10 @@ class Navigationd:
|
||||
cloudlog.warning("navigationd init")
|
||||
|
||||
while True:
|
||||
self.sm.update(0)
|
||||
|
||||
location_valid = self._update_location()
|
||||
location_valid, v_ego = self._update_location()
|
||||
current_destination = parse_destination_json(self.params.get("NavDestination", encoding="utf-8"))
|
||||
route, active_destination, _ = self._maybe_update_route(current_destination)
|
||||
|
||||
v_ego = float(max(self.sm["carState"].vEgo, 0.0))
|
||||
progress, route_state = self._build_progress(route, location_valid, v_ego)
|
||||
self._maybe_recompute(route, current_destination or active_destination, progress, route_state)
|
||||
updated_route, active_destination, _ = self._snapshot_route()
|
||||
|
||||
Reference in New Issue
Block a user