Run locationd online (#1089)
* add locationd to manager * add to release files and make linter happy * Don't ship all models * Also add locationd.py * Remove unused import * Fix import in kalman helperspull/1117/head
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@ -243,6 +243,15 @@ selfdrive/locationd/ublox_msg.cc
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selfdrive/locationd/ublox_msg.h
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selfdrive/locationd/test/*.py
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selfdrive/locationd/locationd.py
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selfdrive/locationd/kalman/.gitignore
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selfdrive/locationd/kalman/__init__.py
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selfdrive/locationd/kalman/README.md
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selfdrive/locationd/kalman/SConscript
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selfdrive/locationd/kalman/templates/*
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selfdrive/locationd/kalman/helpers/*
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selfdrive/locationd/kalman/models/live_kf.py
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selfdrive/locationd/calibrationd.py
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selfdrive/locationd/calibration_helpers.py
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@ -157,7 +157,7 @@ def run_observations_through_filter(kf, observations, filter_time=None):
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def save_residuals_plot(obs, save_path, data_name):
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import matplotlib.pyplot as plt
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import mpld3
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import mpld3 # pylint: disable=import-error
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fig = plt.figure(figsize=(10,20))
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fig.suptitle('Residuals of ' + data_name, fontsize=24)
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n = len(list(obs.keys()))
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@ -118,7 +118,7 @@ class FeatureHandler():
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def generate_orient_error_jac(K):
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import sympy as sp
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from common.sympy_helpers import quat_rotate
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from selfdrive.locationd.kalman.helpers.sympy_helpers import quat_rotate
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x_sym = sp.MatrixSymbol('abr', 3, 1)
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dtheta = sp.MatrixSymbol('dtheta', 3, 1)
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@ -214,9 +214,6 @@ class LiveKalman():
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def P(self):
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return self.filter.covs()
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def predict(self, t):
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return self.filter.predict(t)
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def rts_smooth(self, estimates):
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return self.filter.rts_smooth(estimates, norm_quats=True)
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@ -1,6 +1,5 @@
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#!/usr/bin/env python3
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import math
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from bisect import bisect_right
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import numpy as np
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@ -142,6 +142,7 @@ managed_processes = {
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"ubloxd": ("selfdrive/locationd", ["./ubloxd"]),
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"loggerd": ("selfdrive/loggerd", ["./loggerd"]),
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"logmessaged": "selfdrive.logmessaged",
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"locationd": "selfdrive.locationd.locationd",
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"tombstoned": "selfdrive.tombstoned",
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"logcatd": ("selfdrive/logcatd", ["./logcatd"]),
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"proclogd": ("selfdrive/proclogd", ["./proclogd"]),
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@ -204,6 +205,7 @@ car_started_processes = [
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'modeld',
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'proclogd',
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'ubloxd',
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'locationd',
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]
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if ANDROID:
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car_started_processes += [
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