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Revert laikad llk (#29535)

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* Revert "bump laika (#29522)"

This reverts commit 3523bef732.

* Revert "Locationd: switch to laikad (#29278)"

This reverts commit fd3b8a3d75.
This commit is contained in:
Harald Schäfer
2023-08-22 14:12:51 -07:00
committed by GitHub
parent 55c156dfb2
commit fda3106c28
9 changed files with 195 additions and 57 deletions
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selfdrive/locationd/locationd.h
+12 -1
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@@ -21,10 +21,13 @@
#define POSENET_STD_HIST_HALF 20
enum LocalizerGnssSource {
UBLOX, QCOM
};
class Localizer {
public:
Localizer();
Localizer(LocalizerGnssSource gnss_source = LocalizerGnssSource::UBLOX);
int locationd_thread();
@@ -52,6 +55,7 @@ public:
void handle_msg_bytes(const char *data, const size_t size);
void handle_msg(const cereal::Event::Reader& log);
void handle_sensor(double current_time, const cereal::SensorEventData::Reader& log);
void handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset);
void handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log);
void handle_car_state(double current_time, const cereal::CarState::Reader& log);
void handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log);
@@ -80,8 +84,15 @@ private:
double first_valid_log_time = NAN;
double ttff = NAN;
double last_gps_msg = 0;
LocalizerGnssSource gnss_source;
bool observation_timings_invalid = false;
std::map<std::string, double> observation_values_invalid;
bool standstill = true;
int32_t orientation_reset_count = 0;
float gps_std_factor;
float gps_variance_factor;
float gps_vertical_variance_factor;
double gps_time_offset;
void configure_gnss_source(LocalizerGnssSource source);
};