5bad0f4400
locationd, paramsd: Check conditions before updating kalman filters ( #23789 )
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* 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
1eb13fdc65
paramsd: fix VehicleModelInvalid errors ( #23726 )
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* 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
e4c2c2cf2e
use roll std from locationd ( #23449 )
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* 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
179a685894
paramsd: follow capnp best practices ( #23399 )
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old-commit-hash: df7126b982d6663d7016b6ad28c10af94dc00b19
2022-01-04 15:57:38 -08:00
f64c2974b4
Road Roll Compensation Rebased ( #23251 )
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* first commit
* update refs
old-commit-hash: cf466222f623df5fac325b86b71dc4e181b40d55
2021-12-16 17:34:12 -08:00
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
e75dc5718c
make locationd and paramsd RT ( #21264 )
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old-commit-hash: f01ebc56807a9946ae06a9e6b1bf366bf5a124e0
2021-06-17 14:19:24 -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
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
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
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
7483953935
disable GC for locationd and paramsd ( #20680 )
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old-commit-hash: fc478ff92080b747c0965047522b8f3876da4e6f
2021-04-14 23:59:29 -07:00
ff9840c53f
locationd and paramsd using cython version of ekfsym ( #20610 )
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* Locationd live_kf using c++ kalman filter
* use both cpp and python live_kf to compare
* Locationd using ekfsym cpp
* Paramsd using c++ ekf_sym
* Other building method
* Cleanup
* cleanup
* Single sconscript for rednose and locationd/models
* CI
* CI
* CI fix
* renamed scons config
* Fix lib loading
* bump rednose
* update cpu usage test
old-commit-hash: e6a8157916e9f8365f3f4ac70e49a552e40a8511
2021-04-08 13:09:11 +02:00
cf6c7cb2b8
Update locationd ( #20410 )
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* this was too extreme
* unused import
* capnp wants bools
* update refs
old-commit-hash: 8bddaa7607e659c1cb247b448684d716257a3158
2021-03-19 17:12:34 -07:00
05eb44115e
cereal cleanup part 2 ( #20092 )
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* car stuff
* thermal
* Revert "car stuff"
This reverts commit 77fd1c65ebd01abfa8493ae12c9e6b14f7ada976.
* panda state
* camera stuff
* start deg
* most is building
* builds
* planner + controls run
* fix up paramsd
* cleanup
* process replay passes
* fix webcam build
* camerad
* no more frame
* thermald
* ui
* paramsd
* camera replay
* fix long tests
* fix camerad tests
* maxSteeringAngle
* bump cereal
* more frame
* cereal master
old-commit-hash: 312b681a46b8153314a8420611b6479dd6f70dfc
2021-02-16 21:39:32 -08:00
643120e411
Reset liveParameters if starting with invalid values ( #2360 )
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* reset params if starting with invalid values
* newline
* No need to check stiffness
old-commit-hash: 63e23e9cd72b5cb36ec78e3ec477290602c2dcc7
2020-10-19 19:04:33 +02:00
64a9728f2e
Reduce paramsd and calibrationd CPU usage ( #2119 )
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* reduce paramsd cpu
* reduce calibrationd cpu usage
* calibration_helpers was mostly unused
* more calibration cleanup
* update refs
* fix thresholds in CPU test
old-commit-hash: e0004d09810d9c3bcb8681bca110bf5bbd09445a
2020-09-10 12:16:29 -07:00
26c17c844c
Reset stiffness at beginning of each drive
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old-commit-hash: ef1c7b6833fe86c5541eb79b8129d0663db00c7a
2020-06-12 12:09:32 -07:00
c8d32ce78a
wider margins on stiffness
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old-commit-hash: fac023147127fd79805b54428ac33b819f1138cd
2020-06-09 17:36:16 -07:00
6f09d990af
paramsd output at 20 Hz instead of 100 Hz
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old-commit-hash: a108e7f211e4af4b4e0ac334686c11cdb7a26f2e
2020-06-01 13:47:17 -07:00
a4f120d2be
Rename enum
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old-commit-hash: f69f2001788ed9057b907113b74e258a69ecad6d
2020-05-19 18:13:11 -07:00
d2a41fad6e
Paramsd handle liveLocation not valid and add alerts
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old-commit-hash: 44484102db471a5f85ad078a81b9d8b9456b5233
2020-05-19 17:00:30 -07:00
8f71de0dbe
Rednose ( #1503 )
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* add rednose
* update rednose
* This compiles
* Add rednose to release
* cleanup
* Extract generated dir as argument
* Add constants.py to release
* Add rednose to dockerfile
* Fix that
old-commit-hash: 28bf5d1dd8d08cd8998d2ee9d813b7e573858cf9
2020-05-14 15:36:56 -07:00
4f3e549a3e
Car_kf tuning
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old-commit-hash: f15d55c2b1d95ef347952be2ea1939311230ddea
2020-04-23 14:48:14 -07:00
5e9e9b0899
Paramsd tuning
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old-commit-hash: bb1557f8de5d73589882c09737b8f3f08c20305f
2020-03-24 09:40:14 -07:00
a3568be0b0
paramsd improvements from branch
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old-commit-hash: a24d08e569d4ccf25572d7e174beafed0dec8117
2020-03-23 16:57:05 -07:00
ea1c97cab7
EKF global variable support ( #1230 )
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* Add global variables to kalman filter code
* fix linter
old-commit-hash: e28832b359a2981b6ebeb9f1f3d5bbe72248993c
2020-03-12 12:52:31 -07:00
566eff0c60
Use calibrated reference frame instead of device frame
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old-commit-hash: 2abc1a299f580412246f1be1ae5ead66bab4c804
2020-03-09 13:29:30 -07:00
4073c3f724
Correct reference frame name in car_kf
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old-commit-hash: 01a14400cb0190f7c24e8c9878c2b76c68125efe
2020-03-09 12:49:52 -07:00
52f033a0de
Use new locationd packet in paramsd
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old-commit-hash: 01ac9d47220ad1730d095685bca13087fb600bad
2020-03-09 12:45:04 -07:00
682c866a55
initialize all messages in 1 line ( #1206 )
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old-commit-hash: 6ff881f7894d0117099787e56ec0966bfc63fa7c
2020-03-05 17:32:52 -08:00
7d0ed178dc
Kalman filter to identify vehicle parameters ( #1123 )
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* full vehicle model simulator
* Add vehicle model
* Model compiles
* Close enough
* Simulation works
* Add fast angle offset
* Tune fast angle offset learner
* Create live service for paramsd
* Better clamping
* Fix rotation matrix
* Cleanup before merge
* move debug script to debug/internal
* revert plannerd change
* switch vehicle model to corolla
* fix valid flag
* Bigger stiffness range
* Lower process noise on steer ratio
* Tuning
* Decimation
* No maha tests
old-commit-hash: c9ecab2139cd0b15bba49dcc30e07c7b0f33c6ef
2020-02-26 16:19:02 -08:00
Vivek Aithal