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Calibration remount detector: soft disable (#27993)

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* Calibration remount detector: soft disable

* Update test_calibrationd.py
old-commit-hash: a979a54cf9ce02610cc0999a52a9fbed2f7d4cbb
This commit is contained in:
Harald Schäfer
2023-04-22 00:27:20 +00:00
committed by GitHub
parent eda466a388
commit 73e00a05ac
3 changed files with 3 additions and 3 deletions
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selfdrive/controls/lib/events.py
+1 -1
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@@ -719,7 +719,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
EventName.calibrationIncomplete: { EventName.calibrationIncomplete: {
ET.PERMANENT: calibration_incomplete_alert, ET.PERMANENT: calibration_incomplete_alert,
ET.SOFT_DISABLE: soft_disable_alert("Calibration in Progress"), ET.SOFT_DISABLE: soft_disable_alert("Device remount detected: recalibrating"),
ET.NO_ENTRY: NoEntryAlert("Calibration in Progress"), ET.NO_ENTRY: NoEntryAlert("Calibration in Progress"),
}, },
selfdrive/locationd/calibrationd.py
+1 -1
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@@ -143,7 +143,7 @@ class Calibrator:
# If spread is too high, assume mounting was changed and reset to last block. # If spread is too high, assume mounting was changed and reset to last block.
# Make the transition smooth. Abrupt transitions are not good for feedback loop through supercombo model. # Make the transition smooth. Abrupt transitions are not good for feedback loop through supercombo model.
if max(self.calib_spread) > MAX_ALLOWED_SPREAD and self.cal_status == Calibration.CALIBRATED: if max(self.calib_spread) > MAX_ALLOWED_SPREAD and self.cal_status == Calibration.CALIBRATED:
self.reset(self.rpys[self.block_idx - 1], valid_blocks=INPUTS_NEEDED, smooth_from=self.rpy) self.reset(self.rpys[self.block_idx - 1], valid_blocks=1, smooth_from=self.rpy)
write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5) write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5)
if self.param_put and write_this_cycle: if self.param_put and write_this_cycle:
selfdrive/locationd/test/test_calibrationd.py
+1 -1
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@@ -95,7 +95,7 @@ class TestCalibrationd(unittest.TestCase):
[0.0, 0.0, 0.0], [0.0, 0.0, 0.0],
[0.0, 0.0, 0.0], [0.0, 0.0, 0.0],
[1e-3, 1e-3, 1e-3]) [1e-3, 1e-3, 1e-3])
self.assertEqual(c.valid_blocks, INPUTS_NEEDED) self.assertEqual(c.valid_blocks, 1)
np.testing.assert_allclose(c.rpy, [0.0, 0.0, -0.05], atol=1e-2) np.testing.assert_allclose(c.rpy, [0.0, 0.0, -0.05], atol=1e-2)
if __name__ == "__main__": if __name__ == "__main__":