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388ae5e59e1bb052d5d171332aebbcd36059385e
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293 Commits

Author SHA1 Message Date
Willem Melching 3c3db89b68 locationd: fix writing LastGPSPosition interval (#23895) 
old-commit-hash: f4c822e8c658df69589601bdd3e2095cd9e54e66
 2022-03-02 15:16:19 +01:00
Vivek Aithal 5bad0f4400 locationd, paramsd: Check conditions before updating kalman filters (#23789) 
* update filters only when all messages are alivbe and valid

* update message valid and fix unit test

* update refs

* move check outside loop

* modify fake message fn in test

* deprecate inputsOK and resolve PR comments

* avoid double looped list comprehension

* follow import conventions

* modify paramsd valid to only be invalid in case of commIssue

* update refs
old-commit-hash: 7e6903b58f141b94d645f25c5e0ce15825b60075
 2022-03-02 01:01:29 -08:00
Vivek Aithal 1eb13fdc65 paramsd: fix VehicleModelInvalid errors (#23726) 
* bound steerratio, stiffness std

* remove start steer_ratio limits after looking at data

* reduce sf obs noise

* update refs

* update refs

* add comment explaining change
old-commit-hash: 8a2cbfe00bffa82c7bd70a2b13c1ccf66f7271e0
 2022-02-09 17:37:28 -08:00
Adeeb Shihadeh c8dc3909f4 give calibrationd rt priority (#23725) 
old-commit-hash: 8a0fc850b43f851d2ac7d8d87e54d557b537de91
 2022-02-07 21:05:55 -08:00
Vivek Aithal e4c2c2cf2e use roll std from locationd (#23449) 
* use roll std from locationd

* cleaner

* add todo

* new ref

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
old-commit-hash: f808b174afbcc1fc6924d49fb0c32da5c02aad33
 2022-01-12 21:37:09 -08:00
Dean Lee f112aef5a7 calibrationd: Don't repeatedly call get_valid_idxs() (#23473) 
* optimize

* rpy_init should be np.array

* rename to rpys
old-commit-hash: e5f9af4a6ecc33e7e2d7774d40fe1614293dc319
 2022-01-12 15:34:17 -08:00
Dean Lee 2bb2545d57 calibrationd: fix indentation (#23502) 
old-commit-hash: de572c3755729ee61d257f794d2854845a796872
 2022-01-12 14:40:02 -08:00
Willem Melching 2543a0bc62 boardd: remove ublox timestamp logging (#23498) 
* boardd: remove ublox timestamp logging

* more cleanup

* add cmath
old-commit-hash: 79577e4dcaed6a4a2d4b55aabb5208ebdb2c191f
 2022-01-12 15:00:46 +01:00
Willem Melching fec321a178 calibrationd: convert existing calibration to numpy (#23494) 
* calibrationd: convert existing calibration to numpy

* use numpy functions
old-commit-hash: 8444f8267da10aaf52789d03f6d46d6b90be13ab
 2022-01-11 15:25:01 +01:00
Dean Lee 55233b753b use ndarray.tolist to convert numpy array to float (#23485) 
old-commit-hash: 35ec6ac1cb98f7d671edcb928a2b97d749a1edde
 2022-01-11 14:34:47 +01:00
Dean Lee 38144fa83b calibrationd: remove extra comma (#23472) 
old-commit-hash: f6c6e34ea34f61b2e8d32523a6414dc58b6419e4
 2022-01-09 14:32:33 -08:00
Adeeb Shihadeh 1d324e09c4 skip falling device test 
old-commit-hash: 1a6881edc6318bf30d2ba451d75eeb7d1b53389d
 2022-01-06 14:05:13 -08:00
Adeeb Shihadeh 305a8eac79 locationd: disable falling device detector (#23431) 
old-commit-hash: ef225e3e3515c449ba9f69d6e28c02912f1579c3
 2022-01-06 12:01:14 -08:00
Dean Lee 179a685894 paramsd: follow capnp best practices (#23399) 
old-commit-hash: df7126b982d6663d7016b6ad28c10af94dc00b19
 2022-01-04 15:57:38 -08:00
George Hotz 86a39e838b Add More Types for mypy (#23268) 
* mypy passes

* a few more

* a few in manager

* more types, will lint

* more

* simple types

* events type

* Update selfdrive/thermald/thermald.py

* Apply suggestions from code review

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: dc96d4bee7b898172a6a15de4799af0e2d35605e
 2021-12-28 18:07:00 +01:00
Ewout ter Hoeven f206ebd054 Pyupgrade 3.6: Update syntax with Python 3.6+ features (#23305) 
Updated Python code with Python 3.6+ features:
- utf-8 encoding is now the default (PEP 3120)
- Replace list comprehensions by Generator Expressions (PEP 289)
- Replace yield loop by yield from (PEP 380)
- Remove the (object) subclass when defining a class
- Replace the IOError alias by OSError (PEP 3151)
- Define sets with curly braces {} instead of set()
- Remove "r" parameter from open function, which is default

Co-Authored-By: Adeeb Shihadeh <8762862+adeebshihadeh@users.noreply.github.com>
Co-Authored-By: GregorKikelj <96022003+GregorKikelj@users.noreply.github.com>

Co-authored-by: Adeeb Shihadeh <8762862+adeebshihadeh@users.noreply.github.com>
Co-authored-by: GregorKikelj <96022003+GregorKikelj@users.noreply.github.com>
old-commit-hash: 332f568a8241fba9459cb70c76840b9670e6993a
 2021-12-24 11:18:39 -08:00
HaraldSchafer f64c2974b4 Road Roll Compensation Rebased (#23251) 
* first commit

* update refs
old-commit-hash: cf466222f623df5fac325b86b71dc4e181b40d55
 2021-12-16 17:34:12 -08:00
HaraldSchafer 4de7b45d40 Calibrationd: check size of valid_blocks without current (#23223) 
old-commit-hash: cd190dc85d3b917137bd3d7efa8032fe3045dc84
 2021-12-14 15:14:14 -08:00
HaraldSchafer 22ec491d1f Calibrationd: don't use noisy current block (#23222) 
old-commit-hash: 40dcc6382343df687f8304fe48a27d60c09f5d11
 2021-12-14 14:09:38 -08:00
HaraldSchafer 4708268c7d Revert "Dont use erratic current block (#23211)" (#23221) 
This reverts commit 5c76900f565c8e55f5738efb8fdf5d6a846dbe0e.
old-commit-hash: 837823ff58b57d49bc079a5d7f9ea8db55dc7d76
 2021-12-14 13:59:39 -08:00
HaraldSchafer 6a7849aea3 Dont use erratic current block (#23211) 
old-commit-hash: 19335bb6a48f0e3558c837557a1ae7c66b8b8587
 2021-12-14 13:58:42 -08:00
Dean Lee 3e72a81dac Use std::unique_ptr to manage memory (#23168) 
* use unique_ptr

* trigger ci

* move down loggerdstate
old-commit-hash: 4aa291c406752169f4d836e952708eeccbb36c5d
 2021-12-13 14:16:53 +01:00
Dean Lee dd7c226097 util: move all functions into util namespace (#23203) 
old-commit-hash: 9decd3d8a20167de684322a458e28c8d1f746f83
 2021-12-12 14:42:23 -08:00
Dean Lee c7b1ac57d8 locationd_thread: fix possible dangling reference to params (#23156) 
old-commit-hash: 48963d4b24223aa7e87f257558bf7caa48761868
 2021-12-08 17:46:18 +01:00
Robbe Derks c9ef5b176e add check for restoring almanac, and clear like suggested in the datasheet (#23153) 
Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: bb7208f4c34fe70682f24a3e637b03aeaa4f719c
 2021-12-08 14:13:56 +01:00
Vivek Aithal 37ccdd8127 locationd: cleanup (#23088) 
* remove dead code, avoid indexing by value in locationd

* remove dead states in live_kf
old-commit-hash: 64eb5b0da4d624ecc03f8a45b73296871ae726ff
 2021-12-01 00:09:00 -08:00
Vivek Aithal b2ddfb3719 add a note in loc_kf (#23082) 
old-commit-hash: b57f55088e4a4054ba4b86d7cce9b2a20704db61
 2021-11-30 10:51:32 -08:00
Vivek Aithal 87f37d73a3 Mesh3D: Add accelerometer bias to loc_kf (#22880) 
* add accel-bias to mesh3d

* remove acc scale
old-commit-hash: 5040427cb739fad364319070a0f87ab03031cd99
 2021-11-29 19:30:14 -08:00
Vivek Aithal d537897e9a locationd: Fix Nav localization reliability (#22959) 
* modify reset logic

* remove debug statements

* use ecef pos and vel covariances during reset

* reset orientations initialized to 0,0,GPSbearing

* refactor nav fix

* add fake gps observations to control ecef pos and ecef vel std

* replace fake_P with individual fake cov

* set gps mode flag

* add gps invalid flag names

* update refs

* more accurate gps accuracy check + update refs
old-commit-hash: 8b6a14758329eb977beb5cba73403dd113495aeb
 2021-11-24 15:24:25 -08:00
Vivek Aithal 16d9fcbd80 Revert ecef std until real fix (#22982) 
* too low

* update refs

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
old-commit-hash: 94d59314e28c484c8a4a9fb36c8ab659ea79da57
 2021-11-19 12:49:32 -08:00
Vivek Aithal 27a6dc0c08 locationd : Acceleration Bias in locationd (#22879) 
* 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
Vivek Aithal d49fbbfbed locationd: Set ECEF_POS valid flag to false if in no-gps mode (#22857) 
* 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
Vivek Aithal 6bc1c7b502 locationd: Make live_kf robust to no GPS (#22774) 
* 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
Mayfield 43e1903073 enable wshadow (#22756) 
* 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
Vivek Aithal b150ceffa4 locationd: Gyro bias initial covariance (#22622) 
* 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
Vivek Aithal 80600a77dc expose filter internal states and stds (#22564) 
old-commit-hash: f1546e6552fdf51b99cb44eafff5f88b1de536f1
 2021-10-14 19:44:31 -07:00
Vivek Aithal 0bc7ccfbaa remove confusing logic in live_kf, move to locationd (#22558) 
old-commit-hash: d22f57e36db00f1e6873e3a50f22b8ab2fa94232
 2021-10-14 11:57:50 -07:00
Vivek Aithal 9f96d63520 paramsd: Sort messages in each update iteration before processing (#22403) 
* 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
Vivek Aithal c0ff654602 Add paramsd Stdev to message (#22443) 
* 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
Vivek Aithal 5359f183aa locationd: modify factor for measurement STDEV in gps update (#22262) 
* modify factor for measurement STDEV in gps update

* add new ref_commit
old-commit-hash: 3778592f5049e53b06d1fd6b11e08f59c6fee42a
 2021-09-17 22:33:46 -07:00
HaraldSchafer 3eb667e29d Fix orientation in map (#21863) 
* 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
arfy slowy 63b3d6024b fix: spelling typos (#21861) 
* 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
Harald Schafer acd45c486b Revert "nav: use calibrated orientation (#21853)" 
This reverts commit cd19b37a6b187e0c26cdfe7c42e975abb1dc0155.

old-commit-hash: e63d94d8d24975d308e17b7ce71fdb6b5529dac4
 2021-08-04 10:41:49 -07:00
HaraldSchafer 1c35dc951d nav: use calibrated orientation (#21853) 
* calibrate map

* msg added
old-commit-hash: 4b209f31a11546a3a56032558c656c2aa0b3175f
 2021-08-04 09:58:04 -07:00
HaraldSchafer d1c5e054d0 Better localizer unstable alert (#21660) 
* 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
Willem Melching 5c1ba7502f tici: use LSM6DS3 (#21496) 
old-commit-hash: 6feafc0042b72a8699d2a613b0505acbd99b57f0
 2021-07-06 23:02:54 +02:00
HaraldSchafer eff53180ca Update car_kf.py 
old-commit-hash: a3071bf15b27907fe28e054b64ad45cdab38c25f
 2021-06-18 17:57:42 -07:00
Adeeb Shihadeh e75dc5718c make locationd and paramsd RT (#21264) 
old-commit-hash: f01ebc56807a9946ae06a9e6b1bf366bf5a124e0
 2021-06-17 14:19:24 -07:00
HaraldSchafer 1cbda7bac0 gps can be bad in cities (#21270) 
old-commit-hash: 9a2306e00875b227ff13b0bf88b80b14d387df56
 2021-06-15 10:17:20 -07:00
Dean Lee 147b355dde add space after function name and if statement (#21225) 
old-commit-hash: e4e669bb0fc1a919dfb38800099f8e3ad52346f1
 2021-06-11 10:17:52 +02:00