9b9d332a54
paramsd: fix variable cpu usage ( #24281 )
...
* paramsd: fix variable cpu usage
* fix that
* increase that a bit
old-commit-hash: f7c2b8b46e87f9f32eaeb5a11d20d3df24fe96e4
2022-04-20 14:08:52 -07:00
b57808e650
paramsd: use real logMonoTime ( #24279 )
...
old-commit-hash: 4c9020863f156e98702adf073a018b3ca71f4dbe
2022-04-20 13:57:15 -07:00
6bd1706b52
Offline localizer: accept addition camera ( #24266 )
...
* Offline localizer: add option for additional camera
* add names
* fix some bugs
* Wide ORB features are less accurate
* add comment
old-commit-hash: a762567de9de52aa6e98818b44a140de6123e6fc
2022-04-19 22:45:35 -07:00
b0444b39d2
Body cleanup + 100Hz locationd ( #24168 )
...
* use PID
* 100hz on the branch
* Better defaults
* fix int clip
* More cleanup
* Fix pid comments
* only notcar gets 100hz
* cleanup
* fix tests
* ignore
* update refs
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
old-commit-hash: f54e724b5dd8b95e03dd4f46676c5e854bafaea6
2022-04-09 15:22:29 -07:00
871ecc451b
commIssueAvgFreq: separate alert for avg freq check ( #24150 )
...
* commIssueAvgFreq: separate alert for avg freq check
* bump cereal
* bump cereal
* bump cereal
* freq_ok separate from alive
* bump cereal to master
* update_ref
* fix profiler
old-commit-hash: eaa581921161b2643b10ad72da0708dff14367aa
2022-04-06 16:43:32 -07:00
56bfed0c15
calibrationd: support for not cars ( #24115 )
...
* calibrationd: support for not cars
* update refs
old-commit-hash: 7dffd0ac0bd05379edd56dcdde1ac976ffa17137
2022-04-04 17:04:15 -07:00
bd71c594a2
pylint: enforce indentation (W0311) ( #24039 )
...
* pylint: enforce indentation (W0311)
* few more
old-commit-hash: 8af20af66ddaa6bc06d7f72f9134aa9afeed3ed8
2022-03-24 23:23:29 -07:00
c6f626d116
calibrationd: add function typing ( #24018 )
...
old-commit-hash: 9f1c663ae222a8e2f9e0c7c83d04a59ae4b46918
2022-03-23 00:28:36 -07:00
f8b18e134d
calibrationd: remove unused arg in function ( #24004 )
...
old-commit-hash: 604fefa9b1c0f473d73a2608217c302df8c088d6
2022-03-21 20:03:32 -07:00
069fe1a749
locationd: Commissue fix ( #23951 )
...
* check allAliveAndValid only at filter init
* revert cereal and bugfix test
* rename filterValid to filterInitialized
* bump cereal
* correct err
* update refs
old-commit-hash: dfc12926144df063fb6bd20a97bb4390a4f5a4ef
2022-03-15 14:40:29 -07:00
ec47e0fef0
break up selfdrive.config ( #23959 )
...
* break up selfdrive.config
* add to release files
* fix import order
old-commit-hash: 5c3f3e44bc7b25c9ce502419bcd0261c12ec2b0d
2022-03-13 21:42:39 -07:00
3c3db89b68
locationd: fix writing LastGPSPosition interval ( #23895 )
...
old-commit-hash: f4c822e8c658df69589601bdd3e2095cd9e54e66
2022-03-02 15:16:19 +01:00
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
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
c8dc3909f4
give calibrationd rt priority ( #23725 )
...
old-commit-hash: 8a0fc850b43f851d2ac7d8d87e54d557b537de91
2022-02-07 21:05:55 -08:00
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
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
2bb2545d57
calibrationd: fix indentation ( #23502 )
...
old-commit-hash: de572c3755729ee61d257f794d2854845a796872
2022-01-12 14:40:02 -08:00
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
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
55233b753b
use ndarray.tolist to convert numpy array to float ( #23485 )
...
old-commit-hash: 35ec6ac1cb98f7d671edcb928a2b97d749a1edde
2022-01-11 14:34:47 +01:00
38144fa83b
calibrationd: remove extra comma ( #23472 )
...
old-commit-hash: f6c6e34ea34f61b2e8d32523a6414dc58b6419e4
2022-01-09 14:32:33 -08:00
1d324e09c4
skip falling device test
...
old-commit-hash: 1a6881edc6318bf30d2ba451d75eeb7d1b53389d
2022-01-06 14:05:13 -08:00
305a8eac79
locationd: disable falling device detector ( #23431 )
...
old-commit-hash: ef225e3e3515c449ba9f69d6e28c02912f1579c3
2022-01-06 12:01:14 -08:00
179a685894
paramsd: follow capnp best practices ( #23399 )
...
old-commit-hash: df7126b982d6663d7016b6ad28c10af94dc00b19
2022-01-04 15:57:38 -08:00
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
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
f64c2974b4
Road Roll Compensation Rebased ( #23251 )
...
* first commit
* update refs
old-commit-hash: cf466222f623df5fac325b86b71dc4e181b40d55
2021-12-16 17:34:12 -08:00
4de7b45d40
Calibrationd: check size of valid_blocks without current ( #23223 )
...
old-commit-hash: cd190dc85d3b917137bd3d7efa8032fe3045dc84
2021-12-14 15:14:14 -08:00
22ec491d1f
Calibrationd: don't use noisy current block ( #23222 )
...
old-commit-hash: 40dcc6382343df687f8304fe48a27d60c09f5d11
2021-12-14 14:09:38 -08:00
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
6a7849aea3
Dont use erratic current block ( #23211 )
...
old-commit-hash: 19335bb6a48f0e3558c837557a1ae7c66b8b8587
2021-12-14 13:58:42 -08:00
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
dd7c226097
util: move all functions into util namespace ( #23203 )
...
old-commit-hash: 9decd3d8a20167de684322a458e28c8d1f746f83
2021-12-12 14:42:23 -08:00
c7b1ac57d8
locationd_thread: fix possible dangling reference to params ( #23156 )
...
old-commit-hash: 48963d4b24223aa7e87f257558bf7caa48761868
2021-12-08 17:46:18 +01:00
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
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
b2ddfb3719
add a note in loc_kf ( #23082 )
...
old-commit-hash: b57f55088e4a4054ba4b86d7cce9b2a20704db61
2021-11-30 10:51:32 -08:00
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
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
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
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
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
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
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
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
80600a77dc
expose filter internal states and stds ( #22564 )
...
old-commit-hash: f1546e6552fdf51b99cb44eafff5f88b1de536f1
2021-10-14 19:44:31 -07:00
0bc7ccfbaa
remove confusing logic in live_kf, move to locationd ( #22558 )
...
old-commit-hash: d22f57e36db00f1e6873e3a50f22b8ab2fa94232
2021-10-14 11:57:50 -07:00
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
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
Adeeb Shihadeh