6feafc0042
tici: use LSM6DS3 ( #21496 )
2021-07-06 23:02:54 +02:00
a3071bf15b
Update car_kf.py
2021-06-18 17:57:42 -07:00
f01ebc5680
make locationd and paramsd RT ( #21264 )
2021-06-17 14:19:24 -07:00
9a2306e008
gps can be bad in cities ( #21270 )
2021-06-15 10:17:20 -07:00
e4e669bb0f
add space after function name and if statement ( #21225 )
2021-06-11 10:17:52 +02:00
ee46672d3c
Passing arguments by reference ( #21205 )
2021-06-09 14:09:02 +02:00
9e94fb17cf
fix qcom and qcom2 builds
2021-06-08 16:44:05 -07:00
c53cb5d570
Use C++ header files instead of C header files. ( #21192 )
...
* use cstring instead of string.h
* use cstdio instead of stdio.h
* remove inttypes.h
* use cstdlib instead of stdlib.h
* use cstdint instead of stdint.h
* #include <cstddef>
* cstdlib
* use cmath
* remove stddef.h
* use cassert
* use csignal
* use ctime
* use cerror
* rebase master
2021-06-08 13:46:22 -07:00
1c926d23da
Many localizer resets alert ( #21116 )
...
* add excessive reset
* add alert
* add event
2021-06-03 09:26:53 -07:00
65e0b1e699
Cleanup util.h ( #20849 )
...
* cleanup util.h
* fix build error:omx_encoder.cc:408: undefined reference to do_exit
* fix build error
* rebase master
* move helper functions back to util
* ExitHandleHelper->ExitHandlerHelper
* std::clamp
* struct ExitHandlerHelper to class
* rebase master
* cleanup
* restore ExitHandler
* prefer cassert
2021-06-01 16:53:12 +02:00
f7cf66867b
remove test too
2021-05-27 12:37:52 -07:00
95380969ea
calibrationd: remove support for json params
2021-05-27 12:36:42 -07:00
ea5141d909
Store almanac on ublox poweroff ( #20967 )
...
* Store almanac on ublox poweroff
* send current UTC time
* move message building to ublox_msg.h
2021-05-20 11:43:03 +02:00
6b4e49af0e
fix linter
2021-05-18 19:35:32 -07:00
bffba1a91e
little helper script
2021-05-18 18:56:58 -07:00
2f80775b50
Filter only initialized if up for 1sec ( #20940 )
...
* add time since reset check
* fix time since reset
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com>
2021-05-18 11:12:02 -07:00
17c3220322
Rate limit paramsd angleOffset output ( #20946 )
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* rate limit paramsd angle offset
* update ref
2021-05-18 12:59:42 +02:00
0495426535
Cleanup includes ( #20925 )
...
* remove #include <pthread.h>
* remove #include<stdbool.h> for cc files
* remove #include<iostream>
2021-05-17 10:31:31 +02:00
e5f93ef142
Add ublox interference monitor ( #20911 )
...
* add interference monitor
* new thresholds
* correct labels
* always run for test
* new msg
* add flag
* Revert "always run for test"
This reverts commit b04b92ac2d
2021-05-14 15:23:27 -07:00
65ab98a6c8
locationd: ignore empty sensorEvents ( #20887 )
2021-05-12 16:47:52 +02:00
62e22e7eac
time checks in locationd ( #20880 )
...
* time checks
* no debug print
* correct timestamps in test
* non nan
2021-05-11 15:57:13 -07:00
7222d0f20d
Cleanup selfdrive/ includes ( #20822 )
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* cleanup include path
* continue
* format includes
* fix testraw.cc
* remove include path from SConstruct
* regroup
* rebase master
* almost done
* apply review
* rename FileReader.xx to filereader.xx
* rename Unlogger.x->unlogger.x
* rename FrameReader.xx -> framereader.xx
* apply reviews
* ui.h
* continue
* fix framebuffer.cc build error:mv util.h up
* full path to msm_media_info
* fix qcom2 camerad
Co-authored-by: Comma Device <device@comma.ai>
2021-05-08 22:15:17 -07:00
c62bb10640
Locationd input sanity checks ( #20845 )
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* Add first sanity checks on inputs
* more gps checks
* make sure test values pass sanity checks
* this localizer supports cannonball runs
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
2021-05-06 13:39:50 -07:00
fc3da5eaf9
Use standstill flag in locationd ( #20838 )
2021-05-06 13:13:13 -07:00
e9db5723ef
Locationd 100 Hz ( #20816 )
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* fix std transform
* 100Hz
* new ref
* no more decimation
* clean up confusing maths
* static typing
* Revert "static typing"
This reverts commit 23d87337de648e629fbd35dd8c04a740bbefca47.
* 100Hz costs more
* move normalization into core
* add quat idxs
* add big eps
* this is not safe in the filter
* more sensible
* updates to rednose
* not tested
* normalize in python too
* update rednose
* nan check
* check for infs too
* all should be finite
* update ref
* rednose pr now in master
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
2021-05-06 11:01:58 +02:00
b768729755
paramsd: nan checks are implicit now
2021-05-05 17:44:28 +02:00
d6a575a860
paramsd: stricter checks on locationd yaw rate outputs
2021-05-05 17:42:11 +02:00
d96edb6817
C++ Process replay improvements - Part 1 ( #20828 )
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* C++ Process replay improvements
* revert that change
* create publisher before subscribers
* dont block forever, print warning
* add comment
* create sockets after process init
* try once more to receive the message
* SIMULATION env variable
* print message num when no response
2021-05-05 17:14:29 +02:00
ec414e2eb1
set nice values for non RT processes ( #20812 )
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* set nice values for non RT processes
* builds
* fix qcom build
Co-authored-by: Comma Device <device@comma.ai>
2021-05-04 22:00:11 -07:00
9fb79024ef
Add more sanity checks to paramsd ( #20820 )
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* add more sanity checks to paramsd
* Update selfdrive/locationd/paramsd.py
2021-05-04 09:50:45 -07:00
8a280fbb8e
bump cereal
2021-05-03 20:47:11 -07:00
0b4d28b9d6
paramsd: check NaN in inputs and outputs ( #20804 )
2021-05-03 14:13:31 +02:00
81491dc57f
c++ cleanup: standardize file extensions to .cc and .h ( #20800 )
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* c++ cleanup: standardize file extensions to .cc and .h
* cleanup files_common
2021-05-03 11:53:11 +02:00
daecf4247b
Revert "Locationd 100hz ( #20759 )" ( #20797 )
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* Revert "Locationd 100hz (#20759 )"
This reverts commit 333313cf0e
2021-05-02 15:06:34 -07:00
333313cf0e
Locationd 100hz ( #20759 )
...
* fix std transform
* 100Hz
* new ref
* no more decimation
* clean up confusing maths
* static typing
* Revert "static typing"
This reverts commit 23d87337de648e629fbd35dd8c04a740bbefca47.
* 100Hz costs more
2021-04-28 15:29:14 -07:00
d2a2ccfee4
compare carspeed float to epsilon instead of zero ( #20714 )
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* compare carspeed float to epsilon instead of zero
* update ref
* add ref commit again
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
2021-04-22 17:55:41 -07:00
5fdcce2551
unittests for locationd uncommon events ( #20715 )
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* unittests for locationd uncommon events
* params test using process
* test for posenet spike
* fix library path
* move random seed to setup
2021-04-22 15:31:18 +02:00
e08a570a13
create library for using locationd in python using ffi ( #20711 )
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* create library for using locationd in python using ffi
* lib is not required in release
* cleanup
* dont build liblocationd on release
* add check on buffer size
2021-04-20 17:50:40 +02:00
ed8acfa284
params put in locationd async ( #20713 )
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* params put in locationd async
* remove reference in thread call
2021-04-20 16:02:57 +02:00
b27bad8776
Remove sympy import from paramsd at runtime ( #20710 )
2021-04-20 14:29:37 +02:00
3420707ad5
convert locationd to c++ ( #20622 )
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* live_kf to c++
* first locationd code
* Running in process_replay
* locationd handle cam_odo and live_calib
* log event handlers
* working message receiving
* compiling message sending
* correctly sending some messages
* correct receiving and sending
* update ref_commit with some all_alive_and_valid being false, minor fixes
* fix std abs
* linking on device fix
* fix cpu usage test
* generate kf constants and defines
* fix replay test
* replay without acks, cleanup
* operate on bytearray messages
* cleanup
* send msg fix
* small sleep, less flaky test
* remove python locationd
* review feedback
* bump rednose
2021-04-20 11:56:43 +02:00
a163daf5e0
Improve robustness of ublox init procedure ( #20685 )
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* improve ublox init robustness
* cleanup
* only log if running at 1hz
* not needed
2021-04-15 14:11:53 +02:00
fc478ff920
disable GC for locationd and paramsd ( #20680 )
2021-04-14 23:59:29 -07:00
eacacb8fba
Cleanup ubloxd message parsing ( #20664 )
...
* use kaitai to generate parsers
* add scons flag to generate parsers
* add outer layer ephemeris parsing
* create ephemeris packet at the right time
* parse subframe 1 and 2
* add more fields
* add generated files to release
* fix signs
* no cast
* add unordered map include
* add exception handling
* small cleanup
* parse iono data
* cleanup
2021-04-14 16:17:30 +02:00
343fea2bf9
Fix typo in ephemeris parsing ( #20677 )
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* fix typo in ephemeris parsing
* update ref
2021-04-14 11:25:43 +02:00
c92f171866
Loosen ecamera calib checks ( #20629 )
...
* relax thresholds for widecamera
* cleaner
2021-04-09 20:38:09 -07:00
4dd4b12140
Ubloxd cleanup ( #20637 )
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* clean out locationd/test
* get rid of ubloxd_main
* remove ubloxd_test.cc
* less includes
2021-04-09 18:01:24 +02:00
c1075037ba
Add list for average frequency ignore ( #20624 )
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* add list for averge frequency ignore
* typo
2021-04-08 18:04:16 +02:00
e6a8157916
locationd and paramsd using cython version of ekfsym ( #20610 )
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* Locationd live_kf using c++ kalman filter
* use both cpp and python live_kf to compare
* Locationd using ekfsym cpp
* Paramsd using c++ ekf_sym
* Other building method
* Cleanup
* cleanup
* Single sconscript for rednose and locationd/models
* CI
* CI
* CI fix
* renamed scons config
* Fix lib loading
* bump rednose
* update cpu usage test
2021-04-08 13:09:11 +02:00
57fe8488ac
Qt: show current calibration values ( #20455 )
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* show current calibration
* read calibration from capnp
* use CalStatus
* cleanup calibrationd.py
* remove import capnp
* keep json writing,remove comment
* fix test error
* cleanup
* remove test_read_saved_params
* cleanup
* write out capnp
* restore test
* clean up
* get calibration from CalibrationParams
* cleanup
* update calibration when the description is visible
* cleanup
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
2021-04-06 15:02:40 -07:00
8bddaa7607
Update locationd ( #20410 )
...
* this was too extreme
* unused import
* capnp wants bools
* update refs
2021-03-19 17:12:34 -07:00
0a88304e8d
use class AlignedBuffer ( #20388 )
...
* use class AlignedBuffer from cereal (#20343 )
* AlignedBuffer
* move AlignedBuffer to cereal/messaging.hpp
* rename function aligned to get
* use overloaded function AlignedBuffer:: get(Message *)
* use AlignedBuffer
Co-authored-by: Dean Lee <deanlee3@gmail.com>
2021-03-17 14:43:23 +01:00
e3ad952902
Revert "use class AlignedBuffer from cereal ( #20343 )"
...
This reverts commit 7aa379e123
2021-03-16 20:21:03 +01:00
7aa379e123
use class AlignedBuffer from cereal ( #20343 )
...
* AlignedBuffer
* move AlignedBuffer to cereal/messaging.hpp
* rename function aligned to get
* use overloaded function AlignedBuffer:: get(Message *)
2021-03-16 11:13:15 +01:00
d9c1561d37
pass cloudlog to EKF_sym
2021-03-15 13:27:12 +01:00
12928cdae2
use cached buffer for FlatArrayMessageReader ( #20233 )
2021-03-08 11:02:21 +01:00
82fb638a47
Fix ubloxd test compilation ( #20101 )
2021-02-17 16:07:20 +01:00
312b681a46
cereal cleanup part 2 ( #20092 )
...
* car stuff
* thermal
* Revert "car stuff"
This reverts commit 77fd1c65eb
2021-02-16 21:39:32 -08:00
9e746c6dd8
Locationd process noise typo ( #20085 )
2021-02-16 11:41:21 +01:00
b3a868103a
fix timestamps ( #20029 )
...
* fix timestamps
* nanoseconds
* update refs
2021-02-08 22:15:05 -08:00
4c04e220a1
Timezoned ( #19960 )
...
* untested code
* add to manager
* whitespace
* only save on fix
* cleanup
* fix typo
* add to ignored processes
* import tici
* fix param name
* cleanup
* only run offroad
* use itertools
* wait for thermald
* simpler
* fall back to api call
* add param to override timezone
Co-authored-by: Comma Device <device@comma.ai>
2021-02-06 11:07:37 +01:00
99d58193e4
implement ublox MON_HW2 message ( #19962 )
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* implement MON_HW2 message
* didn't mean to remove this
2021-02-03 13:09:44 +01:00
d34a690136
ublox_msg.h: remove #define min ( #19718 )
2021-01-11 11:59:14 +01:00
595830135b
merge utilpp.h into util.h ( #19710 )
2021-01-10 14:57:32 -08:00
86fe2d1697
common exit handler ( #19661 )
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* common signal handle
* fix typo
* rename to ExitHandler
* remove include signal.h
* remove include csignal
* rename variable exit to v
* rebase master
2021-01-05 20:19:53 -08:00
4096f86e21
lgtm fixes ( #19610 )
...
* pass matrices by reference
* suppress that
* destructor
* that's wrong, suppress it
2020-12-28 20:36:23 -08:00
c131f9db57
small ubloxd cleanup
2020-12-19 15:05:40 -08:00
3bf43bd7e3
ublox_msg.cc: simplify map operations in gen_nav_data ( #2004 )
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* simplify map operations in gen_nav_data
* same as before
* rebase master
2020-12-19 14:13:31 -08:00
9803d3fcdc
save calibration as JSON again
2020-12-08 11:54:27 +01:00
4fafdee9e4
use name
2020-12-03 13:29:58 -08:00
bd4f6650fa
simplify building capnp messages with arrays ( #2617 )
2020-11-30 12:08:52 +01:00
ee43eb552b
small calibration refactor + tests ( #2641 )
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* calibration tests
* read from capnp
* save using cereal struct
* reset calibration if new car
* car params
2020-11-28 10:12:10 -08:00
9f5dfb74f9
preinit locationd filter ( #2569 )
...
* preinit
* update ref commit
2020-11-19 15:14:35 -08:00
63e23e9cd7
Reset liveParameters if starting with invalid values ( #2360 )
...
* reset params if starting with invalid values
* newline
* No need to check stiffness
2020-10-19 19:04:33 +02:00
e51da619c1
LSM6DS3 ( #2268 )
...
* add initial lsm6ds3 setup
* accel works
* ignore lsm6ds3 in locationd
* add gyro
* add temp
Co-authored-by: Comma Device <device@comma.ai>
2020-10-05 16:16:25 +02:00
0b849d5a4e
only do reset if already calibrated ( #2176 )
2020-09-15 07:44:13 -07:00
df99316621
Auto reset bad calibration ( #2151 )
...
* initial commit
* thanks pylint
* smoooooth
* cleanup
* cleaner
* switched
* always decay weight
2020-09-14 04:02:58 -07:00
74801bd216
send initial calibration packet immediately
2020-09-13 13:54:14 -07:00
4d5733924a
message builder ( #2161 )
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* use custom MessageBuilder from cereal
* use MesageBuilder.toBytes
* bump cereal
* unused
* another one
* fix ui msg
Co-authored-by: deanlee <deanlee3@gmail.com>
2020-09-12 21:48:15 -07:00
e0004d0981
Reduce paramsd and calibrationd CPU usage ( #2119 )
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* reduce paramsd cpu
* reduce calibrationd cpu usage
* calibration_helpers was mostly unused
* more calibration cleanup
* update refs
* fix thresholds in CPU test
2020-09-10 12:16:29 -07:00
01111b3f28
remove vp everywhere ( #2122 )
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* remove vp everywhere
* wrong dimension
* useful disclaimer
* switcheroo
* imcomplete switcheroo
* did it wrong again
* difference look small enough
* fix comment
2020-09-04 03:05:20 -07:00
d097abeb21
Track calib spread ( #1988 )
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* add calib spread metric
* add field
* needs to be array
* update refs
* log valid blocks too
* update refs
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
2020-08-06 14:47:17 -07:00
85a7ceaf07
persist falling until message sent ( #1982 )
...
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
2020-08-06 14:46:19 -07:00
df78c9d4df
remove dead lines from calibrationd
2020-08-06 13:57:01 -07:00
687afa9687
wrong units
2020-08-05 13:45:58 -07:00
7032a40717
Revert "persist falling test"
...
This reverts commit 8cad9375d3
2020-08-05 10:46:26 -07:00
8cad9375d3
persist falling test
2020-08-05 10:44:40 -07:00
490ee52687
add fall filter and less FP on posenet ( #1971 )
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* add fall filter and less FP on posenet
* add alert
* list
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
2020-08-03 15:51:56 -07:00
1208ac424d
Cleanup locationd msg building ( #1972 )
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* cleanup locationd msg building
* remove that
2020-08-03 14:58:15 -07:00
8e2d344135
Misc locationd improvements ( #1714 )
...
* I like this more
* rewind less
* bump rednose
* falling off windshield detectopr
* adjust thresholds
* this is a soft disable now
* move that
* process replay fixes
* update refs
Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
2020-07-30 15:33:22 -07:00
e0e7c7486d
remove old params learner ( #1918 )
2020-07-24 18:43:17 +02:00
eb1aa3d831
Wunused ( #1841 )
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* enable Wunused, first pass
* unused stuff in snpe model
* these are used on phone
* handle sigint and sigterm in modeld
* fix phone build
* camera qcom
* QCOM build works
* delete unused camerad vars
Co-authored-by: Comma Device <device@comma.ai>
2020-07-09 09:25:32 -07:00
16a23c98fa
eon needs include for errno
2020-06-23 16:05:47 -07:00
28110ea880
Set timeouts on boardd and ubloxd receive sockets
2020-06-23 15:56:30 -07:00
31ea066acb
Revert "fix #1762 , add timeout on ubloxRaw receive"
...
This reverts commit 0842e98ad8
2020-06-23 15:43:29 -07:00
0842e98ad8
fix #1762 , add timeout on ubloxRaw receive
2020-06-23 15:26:25 -07:00
bfeefb6fd3
Locationd: only process valid log messages ( #1761 )
2020-06-22 14:41:15 -07:00
264015c584
cleanup no sensor data alert ( #1760 )
2020-06-22 14:27:07 -07:00
9e273eb2ec
ubloxd free->delete, fixes #1742
2020-06-19 13:56:46 -07:00
637eecc2b2
save bad calib too for display ( #1678 )
2020-06-15 17:20:49 -07:00
Willem Melching