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openpilot v0.6.3 release

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This commit is contained in:
Vehicle Researcher
2019-08-13 01:36:45 +00:00
parent 6a61788682
commit d5f9caa82d
95 changed files with 1900 additions and 796 deletions
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selfdrive/locationd/paramsd.cc
+5 -4
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@@ -31,9 +31,9 @@ int main(int argc, char *argv[]) {
zmq_pollitem_t polls[num_polls] = {{0}};
polls[0].socket = controls_state_sock;
polls[0].events = ZMQ_POLLIN;
polls[1].socket = sensor_events_sock;
polls[1].socket = camera_odometry_sock;
polls[1].events = ZMQ_POLLIN;
polls[2].socket = camera_odometry_sock;
polls[2].socket = sensor_events_sock;
polls[2].events = ZMQ_POLLIN;
// Read car params
@@ -122,8 +122,9 @@ int main(int argc, char *argv[]) {
localizer.handle_log(event);
auto which = event.which();
// Throw vision failure if posenet and odometric speed too different
if (which == cereal::Event::CAMERA_ODOMETRY){
if (std::abs(localizer.posenet_speed - localizer.car_speed) > std::max(0.5 * localizer.car_speed, 5.0)) {
if (std::abs(localizer.posenet_speed - localizer.car_speed) > std::max(0.4 * localizer.car_speed, 5.0)) {
posenet_invalid_count++;
} else {
posenet_invalid_count = 0;
@@ -155,7 +156,7 @@ int main(int argc, char *argv[]) {
live_params.setStiffnessFactor(learner.x);
live_params.setSteerRatio(learner.sR);
live_params.setPosenetSpeed(localizer.posenet_speed);
live_params.setPosenetValid(posenet_invalid_count < 5);
live_params.setPosenetValid(posenet_invalid_count < 4);
auto words = capnp::messageToFlatArray(msg);
auto bytes = words.asBytes();