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locationd: Set ECEF_POS valid flag to false if in no-gps mode (#22857) 

* 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>
pull/22881/head
Vivek Aithal 2021-11-11 21:34:17 -08:00 committed by GitHub
parent e528e2e3e2
commit c7be73b826
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 9 additions and 9 deletions
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16
selfdrive/locationd/locationd.cc
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@ -130,16 +130,16 @@ void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) {
Vector3d nans = Vector3d(NAN, NAN, NAN);
// write measurements to msg
init_measurement(fix.initPositionGeodetic(), fix_pos_geo_vec, nans, true);
init_measurement(fix.initPositionECEF(), fix_ecef, fix_ecef_std, true);
init_measurement(fix.initVelocityECEF(), vel_ecef, vel_ecef_std, true);
init_measurement(fix.initVelocityNED(), ned_vel, nans, true);
init_measurement(fix.initPositionGeodetic(), fix_pos_geo_vec, nans, this->last_gps_fix > 0);
init_measurement(fix.initPositionECEF(), fix_ecef, fix_ecef_std, this->last_gps_fix > 0);
init_measurement(fix.initVelocityECEF(), vel_ecef, vel_ecef_std, this->last_gps_fix > 0);
init_measurement(fix.initVelocityNED(), ned_vel, nans, this->last_gps_fix > 0);
init_measurement(fix.initVelocityDevice(), vel_device, vel_device_std, true);
init_measurement(fix.initAccelerationDevice(), accDevice, accDeviceErr, true);
init_measurement(fix.initOrientationECEF(), orientation_ecef, orientation_ecef_std, true);
init_measurement(fix.initCalibratedOrientationECEF(), calibrated_orientation_ecef, nans, this->calibrated);
init_measurement(fix.initOrientationNED(), orientation_ned, nans, true);
init_measurement(fix.initCalibratedOrientationNED(), calibrated_orientation_ned, nans, true);
init_measurement(fix.initOrientationECEF(), orientation_ecef, orientation_ecef_std, this->last_gps_fix > 0);
init_measurement(fix.initCalibratedOrientationECEF(), calibrated_orientation_ecef, nans, this->calibrated && this->last_gps_fix > 0);
init_measurement(fix.initOrientationNED(), orientation_ned, nans, this->last_gps_fix > 0);
init_measurement(fix.initCalibratedOrientationNED(), calibrated_orientation_ned, nans, this->calibrated && this->last_gps_fix > 0);
init_measurement(fix.initAngularVelocityDevice(), angVelocityDevice, angVelocityDeviceErr, true);
init_measurement(fix.initVelocityCalibrated(), vel_calib, vel_calib_std, this->calibrated);
init_measurement(fix.initAngularVelocityCalibrated(), ang_vel_calib, ang_vel_calib_std, this->calibrated);

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
7480befa230cb020e5ddd3b4b86e2e8a589cde59
d2b1507589f05d0600fc19ec2570d831fe210ad5