3c3db89b68
locationd: fix writing LastGPSPosition interval ( #23895 )
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old-commit-hash: f4c822e8c6
2022-03-02 15:16:19 +01:00
5bad0f4400
locationd, paramsd: Check conditions before updating kalman filters ( #23789 )
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* 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: 7e6903b58f
2022-03-02 01:01:29 -08:00
1eb13fdc65
paramsd: fix VehicleModelInvalid errors ( #23726 )
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* 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: 8a2cbfe00b
2022-02-09 17:37:28 -08:00
c8dc3909f4
give calibrationd rt priority ( #23725 )
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old-commit-hash: 8a0fc850b4
2022-02-07 21:05:55 -08:00
e4c2c2cf2e
use roll std from locationd ( #23449 )
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* use roll std from locationd
* cleaner
* add todo
* new ref
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com >
old-commit-hash: f808b174af
2022-01-12 21:37:09 -08:00
f112aef5a7
calibrationd: Don't repeatedly call get_valid_idxs() ( #23473 )
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* optimize
* rpy_init should be np.array
* rename to rpys
old-commit-hash: e5f9af4a6e
2022-01-12 15:34:17 -08:00
2bb2545d57
calibrationd: fix indentation ( #23502 )
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old-commit-hash: de572c3755
2022-01-12 14:40:02 -08:00
2543a0bc62
boardd: remove ublox timestamp logging ( #23498 )
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* boardd: remove ublox timestamp logging
* more cleanup
* add cmath
old-commit-hash: 79577e4dca
2022-01-12 15:00:46 +01:00
fec321a178
calibrationd: convert existing calibration to numpy ( #23494 )
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* calibrationd: convert existing calibration to numpy
* use numpy functions
old-commit-hash: 8444f8267d
2022-01-11 15:25:01 +01:00
55233b753b
use ndarray.tolist to convert numpy array to float ( #23485 )
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old-commit-hash: 35ec6ac1cb
2022-01-11 14:34:47 +01:00
38144fa83b
calibrationd: remove extra comma ( #23472 )
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old-commit-hash: f6c6e34ea3
2022-01-09 14:32:33 -08:00
1d324e09c4
skip falling device test
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old-commit-hash: 1a6881edc6
2022-01-06 14:05:13 -08:00
305a8eac79
locationd: disable falling device detector ( #23431 )
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old-commit-hash: ef225e3e35
2022-01-06 12:01:14 -08:00
179a685894
paramsd: follow capnp best practices ( #23399 )
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old-commit-hash: df7126b982
2022-01-04 15:57:38 -08:00
86a39e838b
Add More Types for mypy ( #23268 )
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* 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: dc96d4bee7
2021-12-28 18:07:00 +01:00
f206ebd054
Pyupgrade 3.6: Update syntax with Python 3.6+ features ( #23305 )
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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: 332f568a82
2021-12-24 11:18:39 -08:00
f64c2974b4
Road Roll Compensation Rebased ( #23251 )
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* first commit
* update refs
old-commit-hash: cf466222f6
2021-12-16 17:34:12 -08:00
4de7b45d40
Calibrationd: check size of valid_blocks without current ( #23223 )
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old-commit-hash: cd190dc85d
2021-12-14 15:14:14 -08:00
22ec491d1f
Calibrationd: don't use noisy current block ( #23222 )
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old-commit-hash: 40dcc63823
2021-12-14 14:09:38 -08:00
4708268c7d
Revert "Dont use erratic current block ( #23211 )" ( #23221 )
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This reverts commit 5c76900f565c8e55f5738efb8fdf5d6a846dbe0e.
old-commit-hash: 837823ff58
2021-12-14 13:59:39 -08:00
6a7849aea3
Dont use erratic current block ( #23211 )
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old-commit-hash: 19335bb6a4
2021-12-14 13:58:42 -08:00
3e72a81dac
Use std::unique_ptr to manage memory ( #23168 )
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* use unique_ptr
* trigger ci
* move down loggerdstate
old-commit-hash: 4aa291c406
2021-12-13 14:16:53 +01:00
dd7c226097
util: move all functions into util namespace ( #23203 )
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old-commit-hash: 9decd3d8a2
2021-12-12 14:42:23 -08:00
c7b1ac57d8
locationd_thread: fix possible dangling reference to params ( #23156 )
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old-commit-hash: 48963d4b24
2021-12-08 17:46:18 +01:00
c9ef5b176e
add check for restoring almanac, and clear like suggested in the datasheet ( #23153 )
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Co-authored-by: Comma Device <device@comma.ai >
old-commit-hash: bb7208f4c3
2021-12-08 14:13:56 +01:00
37ccdd8127
locationd: cleanup ( #23088 )
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* remove dead code, avoid indexing by value in locationd
* remove dead states in live_kf
old-commit-hash: 64eb5b0da4
2021-12-01 00:09:00 -08:00
b2ddfb3719
add a note in loc_kf ( #23082 )
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old-commit-hash: b57f55088e
2021-11-30 10:51:32 -08:00
87f37d73a3
Mesh3D: Add accelerometer bias to loc_kf ( #22880 )
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* add accel-bias to mesh3d
* remove acc scale
old-commit-hash: 5040427cb7
2021-11-29 19:30:14 -08:00
d537897e9a
locationd: Fix Nav localization reliability ( #22959 )
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* 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: 8b6a147583
2021-11-24 15:24:25 -08:00
16d9fcbd80
Revert ecef std until real fix ( #22982 )
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* too low
* update refs
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com >
old-commit-hash: 94d59314e2
2021-11-19 12:49:32 -08:00
27a6dc0c08
locationd : Acceleration Bias in locationd ( #22879 )
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* 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: 534bf697ee
2021-11-12 15:55:16 -08:00
d49fbbfbed
locationd: Set ECEF_POS valid flag to false if in no-gps mode ( #22857 )
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* 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: c7be73b826
2021-11-11 21:34:17 -08:00
6bc1c7b502
locationd: Make live_kf robust to no GPS ( #22774 )
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* 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: 5c810a45b0
2021-11-09 14:45:47 -08:00
43e1903073
enable wshadow ( #22756 )
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* enable wshadow (#22714 )
* fix replay
* more build fixes
Co-authored-by: Willem Melching <willem.melching@gmail.com >
old-commit-hash: 5246f0231e
2021-11-02 17:08:53 +01:00
b150ceffa4
locationd: Gyro bias initial covariance ( #22622 )
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* reduce cam odo std multiplier
* increase gyro obs noise
* increase initial cov for gyro bias
old-commit-hash: 2006aa412e
2021-10-22 21:00:01 -07:00
80600a77dc
expose filter internal states and stds ( #22564 )
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old-commit-hash: f1546e6552
2021-10-14 19:44:31 -07:00
0bc7ccfbaa
remove confusing logic in live_kf, move to locationd ( #22558 )
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old-commit-hash: d22f57e36d
2021-10-14 11:57:50 -07:00
9f96d63520
paramsd: Sort messages in each update iteration before processing ( #22403 )
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* 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: 83a53618b3
2021-10-07 18:21:11 -07:00
c0ff654602
Add paramsd Stdev to message ( #22443 )
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* add STD to message
* use modified names for car_kf state stdev atttributes
* update refs
* add modofied cereal
* update refs
old-commit-hash: 244fbde56e
2021-10-06 16:22:18 -07:00
5359f183aa
locationd: modify factor for measurement STDEV in gps update ( #22262 )
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* modify factor for measurement STDEV in gps update
* add new ref_commit
old-commit-hash: 3778592f50
2021-09-17 22:33:46 -07:00
3eb667e29d
Fix orientation in map ( #21863 )
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* fix calibrated orientation
* update ref
* cleaner
* update ref
* master
* update again
* update ref again again
* actually compiled this tim,e
old-commit-hash: e0087fc313
2021-08-05 21:06:46 -07:00
63b3d6024b
fix: spelling typos ( #21861 )
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* fix: typo spelling grammar
* revert
* Update selfdrive/locationd/calibrationd.py
* more revert
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
old-commit-hash: d74def61f8
2021-08-05 12:05:49 -07:00
acd45c486b
Revert "nav: use calibrated orientation ( #21853 )"
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This reverts commit cd19b37a6b187e0c26cdfe7c42e975abb1dc0155.
old-commit-hash: e63d94d8d2
2021-08-04 10:41:49 -07:00
1c35dc951d
nav: use calibrated orientation ( #21853 )
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* calibrate map
* msg added
old-commit-hash: 4b209f31a1
2021-08-04 09:58:04 -07:00
d1c5e054d0
Better localizer unstable alert ( #21660 )
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* use canonical language
* filter out when gps signal is flaky
* Update selfdrive/locationd/locationd.cc
Co-authored-by: Willem Melching <willem.melching@gmail.com >
Co-authored-by: Willem Melching <willem.melching@gmail.com >
old-commit-hash: 049a1bca34
2021-07-20 19:20:00 -07:00
5c1ba7502f
tici: use LSM6DS3 ( #21496 )
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old-commit-hash: 6feafc0042
2021-07-06 23:02:54 +02:00
eff53180ca
Update car_kf.py
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old-commit-hash: a3071bf15b
2021-06-18 17:57:42 -07:00
e75dc5718c
make locationd and paramsd RT ( #21264 )
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old-commit-hash: f01ebc5680
2021-06-17 14:19:24 -07:00
1cbda7bac0
gps can be bad in cities ( #21270 )
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old-commit-hash: 9a2306e008
2021-06-15 10:17:20 -07:00
147b355dde
add space after function name and if statement ( #21225 )
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old-commit-hash: e4e669bb0f
2021-06-11 10:17:52 +02:00
Willem Melching