27a6dc0c08
locationd : Acceleration Bias in locationd ( #22879 )
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* add accel bias to filter for offline calculation
* bugfix acc bias in live_kf
* add no_accel obsertvation
* increase initial certainty of acc-bias and reduce PN
* increase initial certainty of acc-bias and reduce PN
* increase accel bias PN
* increase obs noise for no_accel observation
* style fixes
* update refs
old-commit-hash: 534bf697eeb3b72643abc713649ce2eef5f75820
2021-11-12 15:55:16 -08:00
d49fbbfbed
locationd: Set ECEF_POS valid flag to false if in no-gps mode ( #22857 )
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* set ECEF_POS valid flag to false if in no-gps mode
* modify valid flag for all ecef states before gps
* add calibrated valid when no gps
* update refs
* remove extra whitespace
* add invalid flag to all NED values pre gps
* update refs
* update correct refs
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
old-commit-hash: c7be73b826b21947197f24c6a60fc5a7098e42af
2021-11-11 21:34:17 -08:00
6bc1c7b502
locationd: Make live_kf robust to no GPS ( #22774 )
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* add no gps observations
* use correct ecef_location, orientation vals and stds for nogps states
* remove earth radius obs
* move initial loc to the ocean
* remove unnecessary changes
* update refs
old-commit-hash: 5c810a45b0e7614bfbd7a1b6898547df499964e0
2021-11-09 14:45:47 -08:00
43e1903073
enable wshadow ( #22756 )
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* enable wshadow (#22714 )
* fix replay
* more build fixes
Co-authored-by: Willem Melching <willem.melching@gmail.com >
old-commit-hash: 5246f0231e6bfa572c0dd89c60e538910817faa2
2021-11-02 17:08:53 +01:00
b150ceffa4
locationd: Gyro bias initial covariance ( #22622 )
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* reduce cam odo std multiplier
* increase gyro obs noise
* increase initial cov for gyro bias
old-commit-hash: 2006aa412e9eeac59036805dee1dde65d4e9522e
2021-10-22 21:00:01 -07:00
80600a77dc
expose filter internal states and stds ( #22564 )
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old-commit-hash: f1546e6552fdf51b99cb44eafff5f88b1de536f1
2021-10-14 19:44:31 -07:00
0bc7ccfbaa
remove confusing logic in live_kf, move to locationd ( #22558 )
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old-commit-hash: d22f57e36db00f1e6873e3a50f22b8ab2fa94232
2021-10-14 11:57:50 -07:00
9f96d63520
paramsd: Sort messages in each update iteration before processing ( #22403 )
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* sort livelocationKalman and carState messages in each update iteration before processing
* update refs
* update refs
* update refs
* update again
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
old-commit-hash: 83a53618b3a04377ee55561da7460a6f5da7d8d1
2021-10-07 18:21:11 -07:00
c0ff654602
Add paramsd Stdev to message ( #22443 )
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* add STD to message
* use modified names for car_kf state stdev atttributes
* update refs
* add modofied cereal
* update refs
old-commit-hash: 244fbde56e90a937c887b3a24edce7da2ee5c699
2021-10-06 16:22:18 -07:00
5359f183aa
locationd: modify factor for measurement STDEV in gps update ( #22262 )
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* modify factor for measurement STDEV in gps update
* add new ref_commit
old-commit-hash: 3778592f5049e53b06d1fd6b11e08f59c6fee42a
2021-09-17 22:33:46 -07:00
3eb667e29d
Fix orientation in map ( #21863 )
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* fix calibrated orientation
* update ref
* cleaner
* update ref
* master
* update again
* update ref again again
* actually compiled this tim,e
old-commit-hash: e0087fc313b4032532e3736a4be2b07510a0c9bf
2021-08-05 21:06:46 -07:00
63b3d6024b
fix: spelling typos ( #21861 )
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* fix: typo spelling grammar
* revert
* Update selfdrive/locationd/calibrationd.py
* more revert
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
old-commit-hash: d74def61f88937302f7423eea67895d5f4c596b5
2021-08-05 12:05:49 -07:00
acd45c486b
Revert "nav: use calibrated orientation ( #21853 )"
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This reverts commit cd19b37a6b187e0c26cdfe7c42e975abb1dc0155.
old-commit-hash: e63d94d8d24975d308e17b7ce71fdb6b5529dac4
2021-08-04 10:41:49 -07:00
1c35dc951d
nav: use calibrated orientation ( #21853 )
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* calibrate map
* msg added
old-commit-hash: 4b209f31a11546a3a56032558c656c2aa0b3175f
2021-08-04 09:58:04 -07:00
d1c5e054d0
Better localizer unstable alert ( #21660 )
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* use canonical language
* filter out when gps signal is flaky
* Update selfdrive/locationd/locationd.cc
Co-authored-by: Willem Melching <willem.melching@gmail.com >
Co-authored-by: Willem Melching <willem.melching@gmail.com >
old-commit-hash: 049a1bca34c74ea1fae473386e8bea62f1b3041c
2021-07-20 19:20:00 -07:00
5c1ba7502f
tici: use LSM6DS3 ( #21496 )
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old-commit-hash: 6feafc0042b72a8699d2a613b0505acbd99b57f0
2021-07-06 23:02:54 +02:00
eff53180ca
Update car_kf.py
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old-commit-hash: a3071bf15b27907fe28e054b64ad45cdab38c25f
2021-06-18 17:57:42 -07:00
e75dc5718c
make locationd and paramsd RT ( #21264 )
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old-commit-hash: f01ebc56807a9946ae06a9e6b1bf366bf5a124e0
2021-06-17 14:19:24 -07:00
1cbda7bac0
gps can be bad in cities ( #21270 )
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old-commit-hash: 9a2306e00875b227ff13b0bf88b80b14d387df56
2021-06-15 10:17:20 -07:00
147b355dde
add space after function name and if statement ( #21225 )
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old-commit-hash: e4e669bb0fc1a919dfb38800099f8e3ad52346f1
2021-06-11 10:17:52 +02:00
51cf285c31
Passing arguments by reference ( #21205 )
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old-commit-hash: ee46672d3c8c86b41fd8ae2fce9120e050b8e628
2021-06-09 14:09:02 +02:00
edd2f1c1a6
fix qcom and qcom2 builds
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old-commit-hash: 9e94fb17cfd95dfc5ad85534e50748d5e4225dac
2021-06-08 16:44:05 -07:00
f70a79b838
Use C++ header files instead of C header files. ( #21192 )
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* use cstring instead of string.h
* use cstdio instead of stdio.h
* remove inttypes.h
* use cstdlib instead of stdlib.h
* use cstdint instead of stdint.h
* #include <cstddef>
* cstdlib
* use cmath
* remove stddef.h
* use cassert
* use csignal
* use ctime
* use cerror
* rebase master
old-commit-hash: c53cb5d570adb82bc454fcabab458d7e7f09738c
2021-06-08 13:46:22 -07:00
f0f36a0a06
Many localizer resets alert ( #21116 )
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* add excessive reset
* add alert
* add event
old-commit-hash: 1c926d23da0c73ceb246ca6d61db6ed1c48a1ab9
2021-06-03 09:26:53 -07:00
497472932a
Cleanup util.h ( #20849 )
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* cleanup util.h
* fix build error:omx_encoder.cc:408: undefined reference to do_exit
* fix build error
* rebase master
* move helper functions back to util
* ExitHandleHelper->ExitHandlerHelper
* std::clamp
* struct ExitHandlerHelper to class
* rebase master
* cleanup
* restore ExitHandler
* prefer cassert
old-commit-hash: 65e0b1e699092355bfcb1f588a5a2ec949a34b77
2021-06-01 16:53:12 +02:00
82a82ce9b6
remove test too
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old-commit-hash: f7cf66867bff75f5b53b6d0a2919a67e6e22242f
2021-05-27 12:37:52 -07:00
e35b30c9dd
calibrationd: remove support for json params
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old-commit-hash: 95380969ea640c42968546a12133a6ebb8ca03fa
2021-05-27 12:36:42 -07:00
4d874a90ea
Store almanac on ublox poweroff ( #20967 )
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* Store almanac on ublox poweroff
* send current UTC time
* move message building to ublox_msg.h
old-commit-hash: ea5141d9096d64890a23a806612eb4edf58ea548
2021-05-20 11:43:03 +02:00
5a9504b59a
fix linter
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old-commit-hash: 6b4e49af0ea9ea29493a7f4006a5c0cb5c92ad78
2021-05-18 19:35:32 -07:00
262a059933
little helper script
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old-commit-hash: bffba1a91ef37a19a65bc8d7a1546fe0bf326f1a
2021-05-18 18:56:58 -07:00
c0c009bba9
Filter only initialized if up for 1sec ( #20940 )
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* add time since reset check
* fix time since reset
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com >
old-commit-hash: 2f80775b50174070ab463896e73bfef827d00516
2021-05-18 11:12:02 -07:00
26f9d28532
Rate limit paramsd angleOffset output ( #20946 )
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* rate limit paramsd angle offset
* update ref
old-commit-hash: 17c322032236a09eefc4224417ba0b163591da60
2021-05-18 12:59:42 +02:00
5609f32cee
Cleanup includes ( #20925 )
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* remove #include <pthread.h>
* remove #include<stdbool.h> for cc files
* remove #include<iostream>
old-commit-hash: 0495426535490e7d8d503af35ace7a20dc70a7bb
2021-05-17 10:31:31 +02:00
8559ab5ebd
Add ublox interference monitor ( #20911 )
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* add interference monitor
* new thresholds
* correct labels
* always run for test
* new msg
* add flag
* Revert "always run for test"
This reverts commit b04b92ac2d73d996d1526509e26c4e1a4338cbbb.
* add hw status flags
old-commit-hash: e5f93ef142af706eed05f1d015e1436efa29d1de
2021-05-14 15:23:27 -07:00
c8e4dfafe8
locationd: ignore empty sensorEvents ( #20887 )
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old-commit-hash: 65ab98a6c83cc81fe5916bac964ffafe34bfc47c
2021-05-12 16:47:52 +02:00
420090ffea
time checks in locationd ( #20880 )
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* time checks
* no debug print
* correct timestamps in test
* non nan
old-commit-hash: 62e22e7eac898216b11fc0ae364a3a9905df6699
2021-05-11 15:57:13 -07:00
e333e4f189
Cleanup selfdrive/ includes ( #20822 )
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* cleanup include path
* continue
* format includes
* fix testraw.cc
* remove include path from SConstruct
* regroup
* rebase master
* almost done
* apply review
* rename FileReader.xx to filereader.xx
* rename Unlogger.x->unlogger.x
* rename FrameReader.xx -> framereader.xx
* apply reviews
* ui.h
* continue
* fix framebuffer.cc build error:mv util.h up
* full path to msm_media_info
* fix qcom2 camerad
Co-authored-by: Comma Device <device@comma.ai >
old-commit-hash: 7222d0f20dc8edfe0d2f3417d1ce7c84fbd32805
2021-05-08 22:15:17 -07:00
4707416cdd
Locationd input sanity checks ( #20845 )
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* Add first sanity checks on inputs
* more gps checks
* make sure test values pass sanity checks
* this localizer supports cannonball runs
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com >
old-commit-hash: c62bb106407f50b785570f6b01736839e2b42514
2021-05-06 13:39:50 -07:00
9cfda07c9e
Use standstill flag in locationd ( #20838 )
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old-commit-hash: fc3da5eaf9e9448825115e19dd59e1a2657ab249
2021-05-06 13:13:13 -07:00
b4263a43fc
Locationd 100 Hz ( #20816 )
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* fix std transform
* 100Hz
* new ref
* no more decimation
* clean up confusing maths
* static typing
* Revert "static typing"
This reverts commit 23d87337de648e629fbd35dd8c04a740bbefca47.
* 100Hz costs more
* move normalization into core
* add quat idxs
* add big eps
* this is not safe in the filter
* more sensible
* updates to rednose
* not tested
* normalize in python too
* update rednose
* nan check
* check for infs too
* all should be finite
* update ref
* rednose pr now in master
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com >
old-commit-hash: e9db5723ef348954118643501a92cf0715402fea
2021-05-06 11:01:58 +02:00
ab886b9599
paramsd: nan checks are implicit now
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old-commit-hash: b768729755d1a749fcf36b20ae7690df8091a1b8
2021-05-05 17:44:28 +02:00
2901659fe2
paramsd: stricter checks on locationd yaw rate outputs
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old-commit-hash: d6a575a8605130a59575ec7668e0d0eb90626595
2021-05-05 17:42:11 +02:00
fa3cd32780
C++ Process replay improvements - Part 1 ( #20828 )
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* C++ Process replay improvements
* revert that change
* create publisher before subscribers
* dont block forever, print warning
* add comment
* create sockets after process init
* try once more to receive the message
* SIMULATION env variable
* print message num when no response
old-commit-hash: d96edb68177ccbcf60a21b81ed1c0815f306efbc
2021-05-05 17:14:29 +02:00
55a9ec8a93
set nice values for non RT processes ( #20812 )
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* set nice values for non RT processes
* builds
* fix qcom build
Co-authored-by: Comma Device <device@comma.ai >
old-commit-hash: ec414e2eb1e27eac04582ffbdc88f8022bfb34cc
2021-05-04 22:00:11 -07:00
b9fa4e5696
Add more sanity checks to paramsd ( #20820 )
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* add more sanity checks to paramsd
* Update selfdrive/locationd/paramsd.py
old-commit-hash: 9fb79024ef34206e127a30a408b7bac970387c08
2021-05-04 09:50:45 -07:00
532d19427c
bump cereal
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old-commit-hash: 8a280fbb8eb433fbfe0fc43254c9cbdaceedbab6
2021-05-03 20:47:11 -07:00
8bd3b9a7b8
paramsd: check NaN in inputs and outputs ( #20804 )
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old-commit-hash: 0b4d28b9d697ad7b55495993bd4a7d2800c4e79b
2021-05-03 14:13:31 +02:00
9a827fea20
c++ cleanup: standardize file extensions to .cc and .h ( #20800 )
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* c++ cleanup: standardize file extensions to .cc and .h
* cleanup files_common
old-commit-hash: 81491dc57f5080c602a0be58dd5f9feba2fa31b9
2021-05-03 11:53:11 +02:00
fd28911282
Revert "Locationd 100hz ( #20759 )" ( #20797 )
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* Revert "Locationd 100hz (#20759 )"
This reverts commit 995b89e6424a7b717fb2c725a64d617fb24a1a85.
* new ref
old-commit-hash: daecf4247be74fbe56ae84b4c6585c4c8cbc49b5
2021-05-02 15:06:34 -07:00
cbc2cb24b7
Locationd 100hz ( #20759 )
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* fix std transform
* 100Hz
* new ref
* no more decimation
* clean up confusing maths
* static typing
* Revert "static typing"
This reverts commit 23d87337de648e629fbd35dd8c04a740bbefca47.
* 100Hz costs more
old-commit-hash: 333313cf0e6819767d8dcc4a55bea70f0354579f
2021-04-28 15:29:14 -07:00
Vivek Aithal