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Revert "Dont use erratic current block (#23211)" (#23221) 

This reverts commit 19335bb6a4.
pull/23223/head
HaraldSchafer 2021-12-14 13:59:39 -08:00 committed by GitHub
parent 19335bb6a4
commit 837823ff58
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 3 additions and 9 deletions
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12
selfdrive/locationd/calibrationd.py
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@ -99,16 +99,10 @@ class Calibrator():
self.old_rpy = smooth_from
self.old_rpy_weight = 1.0
def get_valid_idxs(self, ):
# exclude current block_idx from validity window
before_current = list(range(self.block_idx))
after_current = list(range(min(self.valid_blocks, self.block_idx + 1), self.valid_blocks))
return before_current + after_current
def update_status(self):
if self.valid_blocks > 0:
max_rpy_calib = np.array(np.max(self.rpys[self.get_valid_idxs()], axis=0))
min_rpy_calib = np.array(np.min(self.rpys[self.get_valid_idxs()], axis=0))
max_rpy_calib = np.array(np.max(self.rpys[:self.valid_blocks], axis=0))
min_rpy_calib = np.array(np.min(self.rpys[:self.valid_blocks], axis=0))
self.calib_spread = np.abs(max_rpy_calib - min_rpy_calib)
else:
self.calib_spread = np.zeros(3)
@ -164,7 +158,7 @@ class Calibrator():
self.valid_blocks = max(self.block_idx, self.valid_blocks)
self.block_idx = self.block_idx % INPUTS_WANTED
if self.valid_blocks > 0:
self.rpy = np.mean(self.rpys[self.get_valid_idxs()], axis=0)
self.rpy = np.mean(self.rpys[:self.valid_blocks], axis=0)
self.update_status()