openpilot v0.9.7 release

date: 2024-06-11T01:36:39
master commit: f8cb04e4a8

selfdrive/locationd/models/car_kf.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import math
 import sys
-from typing import Any, Dict
+from typing import Any
 
 import numpy as np
 
@@ -28,7 +28,7 @@ def _slice(n):
   return s
 
 
-class States():
+class States:
   # Vehicle model params
   STIFFNESS = _slice(1)  # [-]
   STEER_RATIO = _slice(1)  # [-]
@@ -70,7 +70,7 @@ 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(0.05)**2),
     ObservationKind.ANGLE_OFFSET_FAST: np.atleast_2d(math.radians(10.0)**2),
     ObservationKind.ROAD_ROLL: np.atleast_2d(math.radians(1.0)**2),

selfdrive/locationd/models/live_kf.py

@@ -20,7 +20,7 @@ def numpy2eigenstring(arr):
   return f"(Eigen::VectorXd({len(arr)}) << {arr_str}).finished()"
 
 
-class States():
+class States:
   ECEF_POS = slice(0, 3)  # x, y and z in ECEF in meters
   ECEF_ORIENTATION = slice(3, 7)  # quat for pose of phone in ecef
   ECEF_VELOCITY = slice(7, 10)  # ecef velocity in m/s
@@ -39,7 +39,7 @@ class States():
   ACC_BIAS_ERR = slice(18, 21)
 
 
-class LiveKalman():
+class LiveKalman:
   name = 'live'
 
   initial_x = np.array([3.88e6, -3.37e6, 3.76e6,