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0423d12c9c
* Update carrot_functions.py * fix.. atc.. * TR16 model. * fix.. atc * Adjust interpolation value for t_follow calculation * fix safeMode.. * fix safeMode2 * fix.. v_cruise * model_turn_speed.. * fix.. * fix.. * fix.. cruise.py * fix.. modelTurn.. * fix stopped car safe mode. * model turn 120% * remove model turn speed.. * paramsd... * Revert "remove model turn speed.." This reverts commit564e9dd609. * model_turn_speed... 120 -> 115% * starting achange cost 30 -> 10 * fix.. * aChangeCostStarting * fix.. * gwm v7 * Adjust traffic stop distance parameter * Update carrot_functions.py * update gwm 250929 * trafficStopDistance adjust * localizer_roll_std * scc13 * fix... * fix.. scc13 * scc14 * bypass scc13 * fix scc13 * TheCoolPeople's Model * North Nevada Model * Revert "model_turn_speed... 120 -> 115%" This reverts commite842a7e99f. * Reapply "remove model turn speed.." This reverts commit544ac16811. * for c3x lite (#218) add hardware c3x lite * NNV(North Nevada) v2 * fix.. * Nuggets In Dijon Model * toyota accel pid long * for c3xlite fix (#219) * LatSmoothSec * Revert "Reapply "remove model turn speed.."" This reverts commit2c10aae495. * apply livePose * releases 251017 --------- Co-authored-by: 「 crwusiz 」 <43285072+crwusiz@users.noreply.github.com>
34 lines
1.2 KiB
Python
34 lines
1.2 KiB
Python
from cereal import messaging
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LOCATION1 = (32.7174, -117.16277)
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LOCATION2 = (32.7558, -117.2037)
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LLK_DECIMATION = 10
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RENDER_FRAMES = 15
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DEFAULT_ITERATIONS = RENDER_FRAMES * LLK_DECIMATION
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def generate_liveLocationKalman(location=LOCATION1):
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msg = messaging.new_message('liveLocationKalman')
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msg.liveLocationKalman.positionGeodetic = {'value': [*location, 0], 'std': [0., 0., 0.], 'valid': True}
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msg.liveLocationKalman.positionECEF = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
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msg.liveLocationKalman.calibratedOrientationNED = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
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msg.liveLocationKalman.velocityCalibrated = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
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msg.liveLocationKalman.status = 'valid'
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msg.liveLocationKalman.gpsOK = True
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return msg
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def generate_livePose():
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msg = messaging.new_message('livePose')
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meas = {'x': 0.0, 'y': 0.0, 'z': 0.0, 'xStd': 0.0, 'yStd': 0.0, 'zStd': 0.0, 'valid': True}
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msg.livePose.orientationNED = meas
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msg.livePose.velocityDevice = meas
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msg.livePose.angularVelocityDevice = meas
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msg.livePose.accelerationDevice = meas
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msg.livePose.inputsOK = True
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msg.livePose.posenetOK = True
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msg.livePose.sensorsOK = True
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return msg
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