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11 Commits

Author SHA1 Message Date
Justin Newberry 3b91610c0b Precommit: ensure executable bit is set (#29784) 
* precommit ensure executable

* exclude tinygrad

* bump submodules

* exclude tinygrad globally
old-commit-hash: 4e69937d0d3fbdc7d1d42cbc18d7ccf8ddb115f1
 2023-09-05 16:33:26 -07:00
Dean Lee 1a2f9c464b locationd: passing eigen objects by reference (#28719) 
pass eigen objects by reference
old-commit-hash: 3930ec9facb51491309ba37f66a7b3c59a8dd035
 2023-08-24 12:55:47 -07:00
Dean Lee 0984736972 cpplint: add filter build/include_subdir (#29585) 
old-commit-hash: 21da5a216fc8f5269d2deedc538c2f543a1c270a
 2023-08-24 15:42:17 +01:00
HaraldSchafer eac9ec1570 locationd: Fix GPS sensor times with fixed offsets (#25920) 
* Rewind to qcom time

* Fix test

* Typo

* init unix_time fix

* add gps sensor_time_offsets

* remove all clocks code and add todo

* :emove clocks in unit test

* update refs

* update refs

Co-authored-by: nuwandavek <vivekaithal44@gmail.com>
old-commit-hash: b3324418034fcf09123b614ee2429a4e5bc9d7a5
 2022-10-12 17:47:30 -07:00
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 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 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 0bc7ccfbaa remove confusing logic in live_kf, move to locationd (#22558) 
old-commit-hash: d22f57e36db00f1e6873e3a50f22b8ab2fa94232
 2021-10-14 11:57:50 -07:00
HaraldSchafer 420090ffea time checks in locationd (#20880) 
* time checks

* no debug print

* correct timestamps in test

* non nan
old-commit-hash: 62e22e7eac898216b11fc0ae364a3a9905df6699
 2021-05-11 15:57:13 -07:00
Willem Melching b4263a43fc Locationd 100 Hz (#20816) 
* 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
Joost Wooning c0ac9bb63c convert locationd to c++ (#20622) 
* live_kf to c++

* first locationd code

* Running in process_replay

* locationd handle cam_odo and live_calib

* log event handlers

* working message receiving

* compiling message sending

* correctly sending some messages

* correct receiving and sending

* update ref_commit with some all_alive_and_valid being false, minor fixes

* fix std abs

* linking on device fix

* fix cpu usage test

* generate kf constants and defines

* fix replay test

* replay without acks, cleanup

* operate on bytearray messages

* cleanup

* send msg fix

* small sleep, less flaky test

* remove python locationd

* review feedback

* bump rednose
old-commit-hash: 3420707ad58b060333246eb43db09474bb336d39
 2021-04-20 11:56:43 +02:00