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Support quectel gps (#25299)

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* qcom clock gets corrected randomly it seems

* Use quectel gps

* fix small laikad bugs

* Support both

* Support ublox and qcom clock model

* fix laikad test

* fix typo

* Back to original value

* More typos

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
HaraldSchafer
2022-07-28 19:56:59 +02:00
committed by GitHub
parent b2c1098cd8
commit 11da2804f6
5 changed files with 98 additions and 54 deletions
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selfdrive/locationd/locationd.cc
+10 -2
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@@ -443,6 +443,8 @@ void Localizer::handle_msg(const cereal::Event::Reader& log) {
this->time_check(t);
if (log.isSensorEvents()) {
this->handle_sensors(t, log.getSensorEvents());
} else if (log.isGpsLocation()) {
this->handle_gps(t, log.getGpsLocation());
} else if (log.isGpsLocationExternal()) {
this->handle_gps(t, log.getGpsLocationExternal());
} else if (log.isCarState()) {
@@ -490,11 +492,17 @@ void Localizer::determine_gps_mode(double current_time) {
}
int Localizer::locationd_thread() {
const std::initializer_list<const char *> service_list = {"gpsLocationExternal", "sensorEvents", "cameraOdometry", "liveCalibration", "carState", "carParams"};
const char* gps_location_socket;
if (util::file_exists("/persist/comma/use-quectel-rawgps")) {
gps_location_socket = "gpsLocation";
} else {
gps_location_socket = "gpsLocationExternal";
}
const std::initializer_list<const char *> service_list = {gps_location_socket, "sensorEvents", "cameraOdometry", "liveCalibration", "carState", "carParams"};
PubMaster pm({"liveLocationKalman"});
// TODO: remove carParams once we're always sending at 100Hz
SubMaster sm(service_list, {}, nullptr, {"gpsLocationExternal", "carParams"});
SubMaster sm(service_list, {}, nullptr, {gps_location_socket, "carParams"});
uint64_t cnt = 0;
bool filterInitialized = false;