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1e3bb5be7ec3cd00a2ff8c8a7bc02b8efbf1cddc
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47 Commits

Author SHA1 Message Date
Adeeb Shihadeh
1945c356c2 agnos 8 (#28843) 
* agnos 8

* update to python 3.11.4 (#27452)

* rebase

* optional

* lower cython

* TEMP don't pull cl to use python3.11

* Revert "lower cython"

This reverts commit c5132f8a2727c212bdfc01e77aa53e50a17ead9d.

* fix cython

* remove tensorrt

* carla + opencv

* macos

* update timm and smp

* pynvc

* https

* downgrade numpy

* pin scipy

---------

Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
Co-authored-by: Yassine <yassine.y10@gmail.com>

* revert that

* fix linter

---------

Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
Co-authored-by: Yassine <yassine.y10@gmail.com>
 2023-07-20 21:56:57 -07:00
Adeeb Shihadeh
9c307f2550 Revert "Update pycapnp and Cython (#29021)" 
This reverts commit 76ef1b9b9f.
 2023-07-18 18:47:35 -07:00
Maxime Desroches
76ef1b9b9f Update pycapnp and Cython (#29021) 
* cython + pycapnp

* from_bytes with context

* poetry lock

* limit numpy

* force build

* Revert "force build"

This reverts commit 8c7cb00421da9d0f1b7da2c94f75e9c43733f840.

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2023-07-18 16:40:36 -07:00
Kacper Rączy
b6c3f69dc0 paramsd: expose filterState in debug mode (#28627) 
* Update cereal

* Expose filterState in debug mode.
 2023-06-23 13:45:40 -07:00
Vivek Aithal
dfbdcbad73 [paramsd] Add a hysteresis band for valid checks where applicable (#28546) 
* add a hysteresis band for the slow offset valid check

* add hysteresis to total_ofset and roll valid cases

* bugfix: roll is in radians, offsets are in degs

* remove defaults

* remove kwarg

* remove slow offset check while loading params
 2023-06-15 20:17:06 -07:00
Vivek Aithal
519b3c8847 paramsd: Check if roll from the localizer is actually valid (#27105) 
* add roll_valid check, use localizer roll when it is valid

* increase std to 1.5

* btter check

* avoid numpy

* update refs

* update refs
 2023-02-01 11:21:51 -08:00
Vivek Aithal
2e36d07106 paramsd: Remove one active condition (#26922) 
* remove one active condition

* update refs

* remove unused vars

* update refs

* update refs
 2023-01-13 13:23:06 -08:00
Vivek Aithal
81f6ebebaa [paramsd] Prevent low speed drifting (#26360) 
* lower active speed for paramsd observations

* update refs
 2022-11-04 01:32:29 -07:00
Vivek Aithal
e77dc1ab44 Lateral Acceleration Error alert (Sensor Invalid) (#25291) 
* sensor flag in paramsd

* increase lateral acc err alert threshold

* add invalid sensor alert from paramsd

* update ref, bool before adding to msg

* account for sign difference in locationd and paramsd

* revert ref
 2022-07-28 13:10:01 -07:00
Adeeb Shihadeh
0fce5d9045 Move a bunch of stuff to system/ part 3 (#24829) 
* move swaglog.py

* timezoned

* logmessaged

* version.py

* fix linter
 2022-06-11 23:19:27 -07:00
Adeeb Shihadeh
f7c2b8b46e paramsd: fix variable cpu usage (#24281) 
* paramsd: fix variable cpu usage

* fix that

* increase that a bit
 2022-04-20 14:08:52 -07:00
Adeeb Shihadeh
4c9020863f paramsd: use real logMonoTime (#24279) 2022-04-20 13:57:15 -07:00
Willem Melching
eaa5819211 commIssueAvgFreq: separate alert for avg freq check (#24150) 
* commIssueAvgFreq: separate alert for avg freq check

* bump cereal

* bump cereal

* bump cereal

* freq_ok separate from alive

* bump cereal to master

* update_ref

* fix profiler
 2022-04-06 16:43:32 -07:00
Vivek Aithal
7e6903b58f locationd, paramsd: Check conditions before updating kalman filters (#23789) 
* update filters only when all messages are alivbe and valid

* update message valid and fix unit test

* update refs

* move check outside loop

* modify fake message fn in test

* deprecate inputsOK and resolve PR comments

* avoid double looped list comprehension

* follow import conventions

* modify paramsd valid to only be invalid in case of commIssue

* update refs
 2022-03-02 01:01:29 -08:00
Vivek Aithal
8a2cbfe00b paramsd: fix VehicleModelInvalid errors (#23726) 
* bound steerratio, stiffness std

* remove start steer_ratio limits after looking at data

* reduce sf obs noise

* update refs

* update refs

* add comment explaining change
 2022-02-09 17:37:28 -08:00
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
df7126b982 paramsd: follow capnp best practices (#23399) 2022-01-04 15:57:38 -08:00
HaraldSchafer
cf466222f6 Road Roll Compensation Rebased (#23251) 
* first commit

* update refs
 2021-12-16 17:34:12 -08:00
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
Adeeb Shihadeh
f01ebc5680 make locationd and paramsd RT (#21264) 2021-06-17 14:19:24 -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
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
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
Willem Melching
0b4d28b9d6 paramsd: check NaN in inputs and outputs (#20804) 2021-05-03 14:13:31 +02:00
Willem Melching
fc478ff920 disable GC for locationd and paramsd (#20680) 2021-04-14 23:59:29 -07:00
Joost Wooning
e6a8157916 locationd and paramsd using cython version of ekfsym (#20610) 
* 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
HaraldSchafer
8bddaa7607 Update locationd (#20410) 
* this was too extreme

* unused import

* capnp wants bools

* update refs
 2021-03-19 17:12:34 -07:00
Adeeb Shihadeh
312b681a46 cereal cleanup part 2 (#20092) 
* car stuff

* thermal

* Revert "car stuff"

This reverts commit 77fd1c65ebd01abfa8493ae12c9e6b14f7ada976.

* panda state

* camera stuff

* start deg

* most is building

* builds

* planner + controls run

* fix up paramsd

* cleanup

* process replay passes

* fix webcam build

* camerad

* no more frame

* thermald

* ui

* paramsd

* camera replay

* fix long tests

* fix camerad tests

* maxSteeringAngle

* bump cereal

* more frame

* cereal master
 2021-02-16 21:39:32 -08:00
Willem Melching
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
Adeeb Shihadeh
e0004d0981 Reduce paramsd and calibrationd CPU usage (#2119) 
* 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
Willem Melching
ef1c7b6833 Reset stiffness at beginning of each drive 2020-06-12 12:09:32 -07:00
Willem Melching
fac0231471 wider margins on stiffness 2020-06-09 17:36:16 -07:00
Willem Melching
a108e7f211 paramsd output at 20 Hz instead of 100 Hz 2020-06-01 13:47:17 -07:00
Willem Melching
f69f200178 Rename enum 2020-05-19 18:13:11 -07:00
Willem Melching
44484102db Paramsd handle liveLocation not valid and add alerts 2020-05-19 17:00:30 -07:00
Willem Melching
28bf5d1dd8 Rednose (#1503) 
* add rednose

* update rednose

* This compiles

* Add rednose to release

* cleanup

* Extract generated dir as argument

* Add constants.py to release

* Add rednose to dockerfile

* Fix that
 2020-05-14 15:36:56 -07:00
Willem Melching
f15d55c2b1 Car_kf tuning 2020-04-23 14:48:14 -07:00
Willem Melching
bb1557f8de Paramsd tuning 2020-03-24 09:40:14 -07:00
Willem Melching
a24d08e569 paramsd improvements from branch 2020-03-23 16:57:05 -07:00
Willem Melching
e28832b359 EKF global variable support (#1230) 
* Add global variables to kalman filter code

* fix linter
 2020-03-12 12:52:31 -07:00
Willem Melching
2abc1a299f Use calibrated reference frame instead of device frame 2020-03-09 13:29:30 -07:00
Willem Melching
01a14400cb Correct reference frame name in car_kf 2020-03-09 12:49:52 -07:00
Willem Melching
01ac9d4722 Use new locationd packet in paramsd 2020-03-09 12:45:04 -07:00
Shane Smiskol
6ff881f789 initialize all messages in 1 line (#1206) 2020-03-05 17:32:52 -08:00
Willem Melching
c9ecab2139 Kalman filter to identify vehicle parameters (#1123) 
* full vehicle model simulator

* Add vehicle model

* Model compiles

* Close enough

* Simulation works

* Add fast angle offset

* Tune fast angle offset learner

* Create live service for paramsd

* Better clamping

* Fix rotation matrix

* Cleanup before merge

* move debug script to debug/internal

* revert plannerd change

* switch vehicle model to corolla

* fix valid flag

* Bigger stiffness range

* Lower process noise on steer ratio

* Tuning

* Decimation

* No maha tests
 2020-02-26 16:19:02 -08:00