mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-09-30 19:33:42 +08:00
Code Issues Packages Projects Releases Wiki Activity

Make pylint more strict (#1626)

Browse Source 
* make pylint more strict

* cleanup in progress

* done cleaning up

* no opendbc
This commit is contained in:
Willem Melching
2020-06-02 16:29:32 -07:00
committed by GitHub
parent 676d0901e5
commit 843a64c72f
65 changed files with 313 additions and 359 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/locationd/models/car_kf.py
+4 -3
View File
@@ -12,6 +12,7 @@ from selfdrive.locationd.models.constants import ObservationKind
i = 0
def _slice(n):
global i
s = slice(i, i + n)
@@ -48,7 +49,7 @@ class CarKalman(KalmanFilter):
# process noise
Q = np.diag([
(.05/100)**2,
(.05 / 100)**2,
.01**2,
math.radians(0.02)**2,
math.radians(0.25)**2,
@@ -59,7 +60,7 @@ class CarKalman(KalmanFilter):
])
P_initial = Q.copy()
obs_noise : Dict[int, Any] = {
obs_noise: Dict[int, Any] = {
ObservationKind.STEER_ANGLE: np.atleast_2d(math.radians(0.01)**2),
ObservationKind.ANGLE_OFFSET_FAST: np.atleast_2d(math.radians(10.0)**2),
ObservationKind.STEER_RATIO: np.atleast_2d(5.0**2),
@@ -138,7 +139,7 @@ class CarKalman(KalmanFilter):
gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state, global_vars=CarKalman.global_vars)
def __init__(self, generated_dir, steer_ratio=15, stiffness_factor=1, angle_offset=0):
def __init__(self, generated_dir, steer_ratio=15, stiffness_factor=1, angle_offset=0): # pylint: disable=super-init-not-called
dim_state = self.initial_x.shape[0]
dim_state_err = self.P_initial.shape[0]
x_init = self.initial_x
selfdrive/locationd/models/gnss_kf.py
+4 -4
View File
@@ -76,14 +76,14 @@ class GNSSKalman():
# extra args
sat_pos_freq_sym = sp.MatrixSymbol('sat_pos', 4, 1)
sat_pos_vel_sym = sp.MatrixSymbol('sat_pos_vel', 6, 1)
sat_los_sym = sp.MatrixSymbol('sat_los', 3, 1)
orb_epos_sym = sp.MatrixSymbol('orb_epos_sym', 3, 1)
# sat_los_sym = sp.MatrixSymbol('sat_los', 3, 1)
# orb_epos_sym = sp.MatrixSymbol('orb_epos_sym', 3, 1)
# expand extra args
sat_x, sat_y, sat_z, glonass_freq = sat_pos_freq_sym
sat_vx, sat_vy, sat_vz = sat_pos_vel_sym[3:]
los_x, los_y, los_z = sat_los_sym
orb_x, orb_y, orb_z = orb_epos_sym
# los_x, los_y, los_z = sat_los_sym
# orb_x, orb_y, orb_z = orb_epos_sym
h_pseudorange_sym = sp.Matrix([
sp.sqrt(
selfdrive/locationd/models/loc_kf.py
+5 -5
View File
@@ -252,13 +252,13 @@ class LocKalman():
# extra args
sat_pos_freq_sym = sp.MatrixSymbol('sat_pos', 4, 1)
sat_pos_vel_sym = sp.MatrixSymbol('sat_pos_vel', 6, 1)
sat_los_sym = sp.MatrixSymbol('sat_los', 3, 1)
# sat_los_sym = sp.MatrixSymbol('sat_los', 3, 1)
orb_epos_sym = sp.MatrixSymbol('orb_epos_sym', 3, 1)
# expand extra args
sat_x, sat_y, sat_z, glonass_freq = sat_pos_freq_sym
sat_vx, sat_vy, sat_vz = sat_pos_vel_sym[3:]
los_x, los_y, los_z = sat_los_sym
# los_x, los_y, los_z = sat_los_sym
orb_x, orb_y, orb_z = orb_epos_sym
h_pseudorange_sym = sp.Matrix([
@@ -377,7 +377,7 @@ class LocKalman():
self.dim_state_err = self.dim_main_err + self.dim_augment_err * self.N
if self.N > 0:
x_initial, P_initial, Q = self.pad_augmented(self.x_initial, self.P_initial, self.Q)
x_initial, P_initial, Q = self.pad_augmented(self.x_initial, self.P_initial, self.Q) # pylint: disable=unbalanced-tuple-unpacking
self.computer = LstSqComputer(generated_dir, N)
self.max_tracks = max_tracks
@@ -569,14 +569,14 @@ class LocKalman():
def maha_test_pseudorange(self, x, P, meas, kind, maha_thresh=.3):
bools = []
for i, m in enumerate(meas):
for m in meas:
z, R, sat_pos_freq = parse_pr(m)
bools.append(self.filter.maha_test(x, P, kind, z, R, extra_args=sat_pos_freq, maha_thresh=maha_thresh))
return np.array(bools)
def maha_test_pseudorange_rate(self, x, P, meas, kind, maha_thresh=.999):
bools = []
for i, m in enumerate(meas):
for m in meas:
z, R, sat_pos_vel = parse_prr(m)
bools.append(self.filter.maha_test(x, P, kind, z, R, extra_args=sat_pos_vel, maha_thresh=maha_thresh))
return np.array(bools)