8af20af66d
pylint: enforce indentation (W0311) ( #24039 )
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* pylint: enforce indentation (W0311)
* few more
2022-03-24 23:23:29 -07:00
9f1c663ae2
calibrationd: add function typing ( #24018 )
2022-03-23 00:28:36 -07:00
604fefa9b1
calibrationd: remove unused arg in function ( #24004 )
2022-03-21 20:03:32 -07:00
dfc1292614
locationd: Commissue fix ( #23951 )
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* check allAliveAndValid only at filter init
* revert cereal and bugfix test
* rename filterValid to filterInitialized
* bump cereal
* correct err
* update refs
2022-03-15 14:40:29 -07:00
5c3f3e44bc
break up selfdrive.config ( #23959 )
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* break up selfdrive.config
* add to release files
* fix import order
2022-03-13 21:42:39 -07:00
f4c822e8c6
locationd: fix writing LastGPSPosition interval ( #23895 )
2022-03-02 15:16:19 +01:00
7e6903b58f
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
2022-03-02 01:01:29 -08:00
8a2cbfe00b
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
2022-02-09 17:37:28 -08:00
8a0fc850b4
give calibrationd rt priority ( #23725 )
2022-02-07 21:05:55 -08:00
f808b174af
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>
2022-01-12 21:37:09 -08:00
e5f9af4a6e
calibrationd: Don't repeatedly call get_valid_idxs() ( #23473 )
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* optimize
* rpy_init should be np.array
* rename to rpys
2022-01-12 15:34:17 -08:00
de572c3755
calibrationd: fix indentation ( #23502 )
2022-01-12 14:40:02 -08:00
79577e4dca
boardd: remove ublox timestamp logging ( #23498 )
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* boardd: remove ublox timestamp logging
* more cleanup
* add cmath
2022-01-12 15:00:46 +01:00
8444f8267d
calibrationd: convert existing calibration to numpy ( #23494 )
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* calibrationd: convert existing calibration to numpy
* use numpy functions
2022-01-11 15:25:01 +01:00
35ec6ac1cb
use ndarray.tolist to convert numpy array to float ( #23485 )
2022-01-11 14:34:47 +01:00
f6c6e34ea3
calibrationd: remove extra comma ( #23472 )
2022-01-09 14:32:33 -08:00
1a6881edc6
skip falling device test
2022-01-06 14:05:13 -08:00
ef225e3e35
locationd: disable falling device detector ( #23431 )
2022-01-06 12:01:14 -08:00
df7126b982
paramsd: follow capnp best practices ( #23399 )
2022-01-04 15:57:38 -08:00
dc96d4bee7
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>
2021-12-28 18:07:00 +01:00
332f568a82
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>
2021-12-24 11:18:39 -08:00
cf466222f6
Road Roll Compensation Rebased ( #23251 )
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* first commit
* update refs
2021-12-16 17:34:12 -08:00
cd190dc85d
Calibrationd: check size of valid_blocks without current ( #23223 )
2021-12-14 15:14:14 -08:00
40dcc63823
Calibrationd: don't use noisy current block ( #23222 )
2021-12-14 14:09:38 -08:00
837823ff58
Revert "Dont use erratic current block ( #23211 )" ( #23221 )
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This reverts commit 19335bb6a4
2021-12-14 13:59:39 -08:00
19335bb6a4
Dont use erratic current block ( #23211 )
2021-12-14 13:58:42 -08:00
4aa291c406
Use std::unique_ptr to manage memory ( #23168 )
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* use unique_ptr
* trigger ci
* move down loggerdstate
2021-12-13 14:16:53 +01:00
9decd3d8a2
util: move all functions into util namespace ( #23203 )
2021-12-12 14:42:23 -08:00
48963d4b24
locationd_thread: fix possible dangling reference to params ( #23156 )
2021-12-08 17:46:18 +01:00
bb7208f4c3
add check for restoring almanac, and clear like suggested in the datasheet ( #23153 )
...
Co-authored-by: Comma Device <device@comma.ai>
2021-12-08 14:13:56 +01:00
64eb5b0da4
locationd: cleanup ( #23088 )
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* remove dead code, avoid indexing by value in locationd
* remove dead states in live_kf
2021-12-01 00:09:00 -08:00
b57f55088e
add a note in loc_kf ( #23082 )
2021-11-30 10:51:32 -08:00
5040427cb7
Mesh3D: Add accelerometer bias to loc_kf ( #22880 )
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* add accel-bias to mesh3d
* remove acc scale
2021-11-29 19:30:14 -08:00
8b6a147583
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
2021-11-24 15:24:25 -08:00
94d59314e2
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>
2021-11-19 12:49:32 -08:00
534bf697ee
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
2021-11-12 15:55:16 -08:00
c7be73b826
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>
2021-11-11 21:34:17 -08:00
5c810a45b0
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
2021-11-09 14:45:47 -08:00
5246f0231e
enable wshadow ( #22756 )
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* enable wshadow (#22714 )
* fix replay
* more build fixes
Co-authored-by: Willem Melching <willem.melching@gmail.com>
2021-11-02 17:08:53 +01:00
2006aa412e
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
2021-10-22 21:00:01 -07:00
f1546e6552
expose filter internal states and stds ( #22564 )
2021-10-14 19:44:31 -07:00
d22f57e36d
remove confusing logic in live_kf, move to locationd ( #22558 )
2021-10-14 11:57:50 -07:00
83a53618b3
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>
2021-10-07 18:21:11 -07:00
244fbde56e
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
2021-10-06 16:22:18 -07:00
3778592f50
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
2021-09-17 22:33:46 -07:00
e0087fc313
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
2021-08-05 21:06:46 -07:00
d74def61f8
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>
2021-08-05 12:05:49 -07:00
e63d94d8d2
Revert "nav: use calibrated orientation ( #21853 )"
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This reverts commit 4b209f31a1
2021-08-04 10:41:49 -07:00
4b209f31a1
nav: use calibrated orientation ( #21853 )
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* calibrate map
* msg added
2021-08-04 09:58:04 -07:00
049a1bca34
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>
2021-07-20 19:20:00 -07:00
Adeeb Shihadeh