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232 Commits

Author SHA1 Message Date
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
Dean Lee
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
Adeeb Shihadeh
f7cf66867b remove test too 2021-05-27 12:37:52 -07:00
Adeeb Shihadeh
95380969ea calibrationd: remove support for json params 2021-05-27 12:36:42 -07:00
Willem Melching
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
Adeeb Shihadeh
6b4e49af0e fix linter 2021-05-18 19:35:32 -07:00
Comma Device
bffba1a91e little helper script 2021-05-18 18:56:58 -07:00
HaraldSchafer
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
Willem Melching
17c3220322 Rate limit paramsd angleOffset output (#20946) 
* rate limit paramsd angle offset

* update ref
 2021-05-18 12:59:42 +02:00
Dean Lee
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
HaraldSchafer
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 b04b92ac2d73d996d1526509e26c4e1a4338cbbb.

* add hw status flags
 2021-05-14 15:23:27 -07:00
Willem Melching
65ab98a6c8 locationd: ignore empty sensorEvents (#20887) 2021-05-12 16:47:52 +02:00
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
Dean Lee
7222d0f20d Cleanup selfdrive/ includes (#20822) 
* 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
Willem Melching
c62bb10640 Locationd input sanity checks (#20845) 
* 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
Willem Melching
fc3da5eaf9 Use standstill flag in locationd (#20838) 2021-05-06 13:13:13 -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
Willem Melching
b768729755 paramsd: nan checks are implicit now 2021-05-05 17:44:28 +02:00
Willem Melching
d6a575a860 paramsd: stricter checks on locationd yaw rate outputs 2021-05-05 17:42:11 +02:00
Willem Melching
d96edb6817 C++ Process replay improvements - Part 1 (#20828) 
* 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
Adeeb Shihadeh
ec414e2eb1 set nice values for non RT processes (#20812) 
* 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
Willem Melching
9fb79024ef Add more sanity checks to paramsd (#20820) 
* add more sanity checks to paramsd

* Update selfdrive/locationd/paramsd.py
 2021-05-04 09:50:45 -07:00
Adeeb Shihadeh
8a280fbb8e bump cereal 2021-05-03 20:47:11 -07:00
Willem Melching
0b4d28b9d6 paramsd: check NaN in inputs and outputs (#20804) 2021-05-03 14:13:31 +02:00
Dean Lee
81491dc57f c++ cleanup: standardize file extensions to .cc and .h (#20800) 
* c++ cleanup: standardize file extensions to .cc and .h

* cleanup files_common
 2021-05-03 11:53:11 +02:00
HaraldSchafer
daecf4247b Revert "Locationd 100hz (#20759)" (#20797) 
* Revert "Locationd 100hz (#20759)"

This reverts commit 333313cf0e.

* new ref
 2021-05-02 15:06:34 -07:00
HaraldSchafer
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
Joost Wooning
d2a2ccfee4 compare carspeed float to epsilon instead of zero (#20714) 
* 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
Joost Wooning
5fdcce2551 unittests for locationd uncommon events (#20715) 
* 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
Joost Wooning
e08a570a13 create library for using locationd in python using ffi (#20711) 
* 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
Joost Wooning
ed8acfa284 params put in locationd async (#20713) 
* params put in locationd async

* remove reference in thread call
 2021-04-20 16:02:57 +02:00