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262 Commits

Author SHA1 Message Date
Vivek Aithal
f808b174af use roll std from locationd (#23449) 
* 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
Dean Lee
e5f9af4a6e calibrationd: Don't repeatedly call get_valid_idxs() (#23473) 
* optimize

* rpy_init should be np.array

* rename to rpys
 2022-01-12 15:34:17 -08:00
Dean Lee
de572c3755 calibrationd: fix indentation (#23502) 2022-01-12 14:40:02 -08:00
Willem Melching
79577e4dca boardd: remove ublox timestamp logging (#23498) 
* boardd: remove ublox timestamp logging

* more cleanup

* add cmath
 2022-01-12 15:00:46 +01:00
Willem Melching
8444f8267d calibrationd: convert existing calibration to numpy (#23494) 
* calibrationd: convert existing calibration to numpy

* use numpy functions
 2022-01-11 15:25:01 +01:00
Dean Lee
35ec6ac1cb use ndarray.tolist to convert numpy array to float (#23485) 2022-01-11 14:34:47 +01:00
Dean Lee
f6c6e34ea3 calibrationd: remove extra comma (#23472) 2022-01-09 14:32:33 -08:00
Adeeb Shihadeh
1a6881edc6 skip falling device test 2022-01-06 14:05:13 -08:00
Adeeb Shihadeh
ef225e3e35 locationd: disable falling device detector (#23431) 2022-01-06 12:01:14 -08:00
Dean Lee
df7126b982 paramsd: follow capnp best practices (#23399) 2022-01-04 15:57:38 -08:00
George Hotz
dc96d4bee7 Add More Types for mypy (#23268) 
* 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
Ewout ter Hoeven
332f568a82 Pyupgrade 3.6: Update syntax with Python 3.6+ features (#23305) 
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
HaraldSchafer
cf466222f6 Road Roll Compensation Rebased (#23251) 
* first commit

* update refs
 2021-12-16 17:34:12 -08:00
HaraldSchafer
cd190dc85d Calibrationd: check size of valid_blocks without current (#23223) 2021-12-14 15:14:14 -08:00
HaraldSchafer
40dcc63823 Calibrationd: don't use noisy current block (#23222) 2021-12-14 14:09:38 -08:00
HaraldSchafer
837823ff58 Revert "Dont use erratic current block (#23211)" (#23221) 
This reverts commit 19335bb6a4.
 2021-12-14 13:59:39 -08:00
HaraldSchafer
19335bb6a4 Dont use erratic current block (#23211) 2021-12-14 13:58:42 -08:00
Dean Lee
4aa291c406 Use std::unique_ptr to manage memory (#23168) 
* use unique_ptr

* trigger ci

* move down loggerdstate
 2021-12-13 14:16:53 +01:00
Dean Lee
9decd3d8a2 util: move all functions into util namespace (#23203) 2021-12-12 14:42:23 -08:00
Dean Lee
48963d4b24 locationd_thread: fix possible dangling reference to params (#23156) 2021-12-08 17:46:18 +01:00
Robbe Derks
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
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
b57f55088e add a note in loc_kf (#23082) 2021-11-30 10:51:32 -08:00
Vivek Aithal
5040427cb7 Mesh3D: Add accelerometer bias to loc_kf (#22880) 
* add accel-bias to mesh3d

* remove acc scale
 2021-11-29 19:30:14 -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
94d59314e2 Revert ecef std until real fix (#22982) 
* too low

* update refs

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
 2021-11-19 12:49:32 -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
c7be73b826 locationd: Set ECEF_POS valid flag to false if in no-gps mode (#22857) 
* 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
Vivek Aithal
5c810a45b0 locationd: Make live_kf robust to no GPS (#22774) 
* 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
Mayfield
5246f0231e enable wshadow (#22756) 
* 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
Vivek Aithal
2006aa412e locationd: Gyro bias initial covariance (#22622) 
* reduce cam odo std multiplier

* increase gyro obs noise

* increase initial cov for gyro bias
 2021-10-22 21:00:01 -07:00
Vivek Aithal
f1546e6552 expose filter internal states and stds (#22564) 2021-10-14 19:44:31 -07:00
Vivek Aithal
d22f57e36d remove confusing logic in live_kf, move to locationd (#22558) 2021-10-14 11:57:50 -07:00
Vivek Aithal
83a53618b3 paramsd: Sort messages in each update iteration before processing (#22403) 
* 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
Vivek Aithal
244fbde56e Add paramsd Stdev to message (#22443) 
* 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
Vivek Aithal
3778592f50 locationd: modify factor for measurement STDEV in gps update (#22262) 
* modify factor for measurement STDEV in gps update

* add new ref_commit
 2021-09-17 22:33:46 -07:00
HaraldSchafer
e0087fc313 Fix orientation in map (#21863) 
* 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
arfy slowy
d74def61f8 fix: spelling typos (#21861) 
* 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
Harald Schafer
e63d94d8d2 Revert "nav: use calibrated orientation (#21853)" 
This reverts commit 4b209f31a1.
 2021-08-04 10:41:49 -07:00
HaraldSchafer
4b209f31a1 nav: use calibrated orientation (#21853) 
* calibrate map

* msg added
 2021-08-04 09:58:04 -07:00
HaraldSchafer
049a1bca34 Better localizer unstable alert (#21660) 
* 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
Willem Melching
6feafc0042 tici: use LSM6DS3 (#21496) 2021-07-06 23:02:54 +02:00
HaraldSchafer
a3071bf15b Update car_kf.py 2021-06-18 17:57:42 -07:00
Adeeb Shihadeh
f01ebc5680 make locationd and paramsd RT (#21264) 2021-06-17 14:19:24 -07:00
HaraldSchafer
9a2306e008 gps can be bad in cities (#21270) 2021-06-15 10:17:20 -07:00
Dean Lee
e4e669bb0f add space after function name and if statement (#21225) 2021-06-11 10:17:52 +02:00
Dean Lee
ee46672d3c Passing arguments by reference (#21205) 2021-06-09 14:09:02 +02:00
Adeeb Shihadeh
9e94fb17cf fix qcom and qcom2 builds 2021-06-08 16:44:05 -07:00
Dean Lee
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
HaraldSchafer
1c926d23da Many localizer resets alert (#21116) 
* add excessive reset

* add alert

* add event
 2021-06-03 09:26:53 -07:00