8 Commits

Author	SHA1	Message	Date
HaraldSchafer	b332441803	locationd: Fix GPS sensor times with fixed offsets (#25920) ... * Rewind to qcom time * Fix test * Typo * init unix_time fix * add gps sensor_time_offsets * remove all clocks code and add todo * :emove clocks in unit test * update refs * update refs Co-authored-by: nuwandavek <vivekaithal44@gmail.com>	2022-10-12 17:47:30 -07:00
Vivek Aithal	64eb5b0da4	locationd: cleanup (#23088) ... * remove dead code, avoid indexing by value in locationd * remove dead states in live_kf	2021-12-01 00:09:00 -08:00
Vivek Aithal	8b6a147583	locationd: Fix Nav localization reliability (#22959) ... * 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
Vivek Aithal	534bf697ee	locationd : Acceleration Bias in locationd (#22879) ... * 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
Vivek Aithal	d22f57e36d	remove confusing logic in live_kf, move to locationd (#22558)	2021-10-14 11:57:50 -07:00
HaraldSchafer	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
Willem Melching	e9db5723ef	Locationd 100 Hz (#20816) ... * 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
Joost Wooning	3420707ad5	convert locationd to c++ (#20622) ... * 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