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Linter: Fix >160 line length test (#29287)

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* test

* fix line length

* fix line length

* fix file size

* revert poetry

* cleanup for PR
old-commit-hash: cf64b27168614f851087adab2d7f766425922f64
This commit is contained in:
Justin Newberry
2023-08-08 17:13:35 -07:00
committed by GitHub
parent 6d1965f755
commit 7b677910df
54 changed files with 220 additions and 109 deletions
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selfdrive/locationd/models/car_kf.py
+2 -1
View File
@@ -171,7 +171,8 @@ class CarKalman(KalmanFilter):
if P_initial is not None:
self.P_initial = P_initial
# init filter
self.filter = EKF_sym_pyx(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog)
self.filter = EKF_sym_pyx(generated_dir, self.name, self.Q, self.initial_x, self.P_initial,
dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog)
if __name__ == "__main__":
selfdrive/locationd/models/loc_kf.py
+4 -2
View File
@@ -33,7 +33,8 @@ class States():
ACCELEROMETER_BIAS = slice(30, 33) # bias of mems accelerometer
# TODO the offset is likely a translation of the sensor, not a rotation of the camera
WIDE_FROM_DEVICE_EULER = slice(33, 36) # wide camera offset angles in radians (tici only)
# We currently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_FROM_DEVICE_EULER).
# We currently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables
# (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_FROM_DEVICE_EULER).
# From experiments we see that ACCELEROMETER_BIAS is more correct than ACCELEROMETER_SCALE
# Error-state has different slices because it is an ESKF
@@ -324,7 +325,8 @@ class LocKalman():
obs_eqs.append([h_track_sym, ObservationKind.ORB_FEATURES, track_epos_sym])
obs_eqs.append([h_track_wide_cam_sym, ObservationKind.ORB_FEATURES_WIDE, track_epos_sym])
obs_eqs.append([h_track_sym, ObservationKind.FEATURE_TRACK_TEST, track_epos_sym])
msckf_params = [dim_main, dim_augment, dim_main_err, dim_augment_err, N, [ObservationKind.MSCKF_TEST, ObservationKind.ORB_FEATURES, ObservationKind.ORB_FEATURES_WIDE]]
msckf_params = [dim_main, dim_augment, dim_main_err, dim_augment_err, N,
[ObservationKind.MSCKF_TEST, ObservationKind.ORB_FEATURES, ObservationKind.ORB_FEATURES_WIDE]]
else:
msckf_params = None
gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state_err, eskf_params, msckf_params, maha_test_kinds)