Kacper Rączy
490c53e2dc
locationd: make pose_kf inherit from KalmanFilter ( #34982 )
...
* Read message not json for initial state
* Delete lines
* Fix param
2025-04-05 05:48:34 +00:00
Shane Smiskol
0789877cd3
paramsd: fix unbounded yaw rate while calibrating ( #34806 )
...
* rm
* comments
* default values when yaw rate invalid
* clean up
Revert "default values when yaw rate invalid"
This reverts commit e983abb3b009f15a57ebdfbadd4f616aba5b266e.
do the same for yaw rate we do for roll
and
* 1 is fine
* update refs
---------
Co-authored-by: Kacper Rączy <gfw.kra@gmail.com >
2025-03-06 22:44:09 -08:00
Kacper Rączy
a8b829167d
locationd: use cloudlog ( #34508 )
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* Use cloudlog instead of print
* Changes
2025-01-30 22:36:20 +00:00
Kacper Rączy
93a8a18b6d
locationd: frequency based bad observation resiliance and recovery ( #34476 )
...
* Improve it
* Fix static
* Fix test_consistent_timing_spikes test
* Fix tests
* Comment
* Remove crap
2025-01-25 05:38:20 +00:00
Kacper Rączy
eccdf8d880
locationd: timing spikes resiliance ( #34080 )
...
* Locationd scenario for timing spike
* Add test for consistent timing spike
* Resiliance to bad timing
* Test update
* Refactor test
* fix comment
* Decay based on frequency
* Fix
* Update comment
* Only for critical services
* Fix tests
2024-11-25 20:46:05 -08:00
Dean Lee
7a11d0180b
locationd: improve circular buffer handling with np.roll ( #33470 )
...
improve circular buffer handling
2024-09-19 13:09:41 -07:00
Dean Lee
aca0ee3eea
locationd: replaced the loop and setattr with direct attribute assignment ( #33466 )
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replaced the loop and setattr with direct attribute assignment
2024-09-18 22:19:57 -07:00
Kacper Rączy
236dffe400
locationd no GPS ( #33029 )
...
* Pose kf draft
old-commit-hash: 17dd4d576e597792f0e18826498c00076739f92b
* Fix it
old-commit-hash: 13ac120affe58fd22e871586ea5f4d335b3e9d2b
* Add translation noise
old-commit-hash: 166529cb612858c4ce80649367ac35b2b6007e1d
* Add gravity to acc
old-commit-hash: 8fcfed544b8e090ccc86b189c13bc03c6c190613
* Use pyx
old-commit-hash: 8e69e0baa0a4c43b4d0c22535711f296f05420aa
* Indent
old-commit-hash: 25b19a73644cdcb571ccf1a1d8acb88a0d066c67
* Reset function
old-commit-hash: ca5d2736da15e4fd6539f7268133320735b7c9cc
* Add device_from_ned and ned_from_device transformations
old-commit-hash: a60d25da0edc311e583549dc015fa595749fd4ae
* Fix rotations
old-commit-hash: d6d582f7f6d19a2bc2308dbcb0c9f81363e325b6
* kms
old-commit-hash: 681bc4e50374795ccc61422c3ce4ffb51389fce2
* Centripetal acceleration
old-commit-hash: 6e574506d27e5b76a04b2097d94efa4ca91ead71
* Rewrite draft
old-commit-hash: 4a2aad0146267460e5d30036c8cdb2bef94d1d7c
* Remove old locationd stuff
old-commit-hash: c2be9f7dbf22fb5cd29e437cd7891a7d52266fba
* Python process now
old-commit-hash: 83fac85f28c0b546b6965aafe1dd8a089e67f5b3
* Process replay fix
old-commit-hash: c44f9de98583c49dad0b22497869b3bb0266fcd9
* Add checks for timing and validity
old-commit-hash: aed4fbe2d00ca620e01a0e0ee99a4871c939de36
* Fixes
old-commit-hash: 3f052c658c16984a34915f38afdfbfd0fb19a267
* Process replay config fixes
old-commit-hash: 1c56690ee7ceb3c23c9ec2b2713352191212716e
* static analysis fixes
old-commit-hash: 6145e2c140ea9aa97e75069c3ddd82172cadc866
* lp in latcontrol
old-commit-hash: 9abf7359d68e794c69052724f3aca14b04dd3cca
* Fix SensorEvent name for acceleration
old-commit-hash: 91a1ad6c604727c9c898ba4aefe9478022b167fd
* Ignore sensor readings from segments with multiple imus
old-commit-hash: 1f05af63d6cc605ea98d7da0d727a5bd8d7819b0
* Update shebang
old-commit-hash: e3f2f5c10df3a4ba698421335bfeffc63d1a8797
* Replace llk with lp
old-commit-hash: 99b6c7ba08de6b703708fef0b8fd2d8cb24b92c0
* Refactor locationd scenario test
old-commit-hash: 7f5f788f071b7647e36f854df927cc5b6f819a84
* Add more debugging tools
old-commit-hash: 8d4e364867e143ea35f4bfd00d8212aaf170a1d1
* Param name update
old-commit-hash: 5151e8f5520f067e7808e3f0baa628fbf8fb7337
* Fix expected observations
old-commit-hash: d6a0d4c1a96c438fb6893e8b6ff43becf6061b75
* Handle invalid measurements
old-commit-hash: 549362571e74ad1e7ec9368f6026378c54a29adf
* Fix spelling
old-commit-hash: eefd7c4c92fb486452e9b83c7121d2599811852b
* Include observations in debug info too
old-commit-hash: 625806d1110b3bffe249cd1d03416f2a3f2c1868
* Store error instead of expected observation
old-commit-hash: 1cb7a799b67e56af4eddc6608d5b0e295f2d888c
* Renames
old-commit-hash: a7eec74640fc5cc7a5e86172d2087b66cb93d17d
* Zero the yaw
old-commit-hash: 96150779590fcb8ac50e8ffe8f8df03105983179
* New state_dot for orientation
old-commit-hash: c1456bf3a0c5af2f888aa6ff0b5ffc2e5516ddf7
* Fix the state transformations
old-commit-hash: 7cb9b91e2f99caa4ac3fb748c7f23bb8bf9f65db
* Update process in test_onroad
old-commit-hash: 854afab7c39ca7dec2b42974cecbb5310b82b617
* Test polling on cameraOdometry
old-commit-hash: a78e8b7d61618177f15c9892e2fa1e51620deca8
* Keep the copy of x and P returned from predict
old-commit-hash: 3c4159a6a7d7383265a99f3f78f8805d2fcfc8cd
* Remove polling again
old-commit-hash: f7228675c5fd2de5f879c4786859f1abcec27d68
* Remove locationd.cc
old-commit-hash: d7005599b2b178e688c3bd1959d6b69357d3a663
* Optim in _finite_check
old-commit-hash: 58ad6a06b9380960e9f69eb98663ddb97461e8d5
* Access .t once
old-commit-hash: d03252e75ed4cbdb49291a60c904568e6a3d3399
* Move the timing check to cam odo code path
old-commit-hash: 6a1c26f8c201e1feb601753f0cb7299cf981b47e
* Call all_checks only once
old-commit-hash: 373809cebf8d9db89d1ab00f4c8c933f33038e78
* Do not sort
old-commit-hash: 2984cd02c0ab76827b8c7e32f7e637b261425025
* Check sm.updated
old-commit-hash: 11c48de3f0802eb4783899f6a37737078dbf2da4
* Remove test_params_gps
old-commit-hash: 82db4fd1a876cc2402702edc74eba0a8ac5da858
* Increase tolerance
old-commit-hash: 927d6f05249d2c8ec40b32e2a0dcde8e1a469fb3
* Fix static
old-commit-hash: 2d86d62c74d5ac0ad56ec3855a126e00a26cd490
* Try separate sockets for sensors
old-commit-hash: 5dade63947ab237f0b4555f45d941a8851449ab1
* sensor_all_checks
old-commit-hash: e25f40dd6b37ee76cd9cc2b19be552baf1355ec3
* Fix static
old-commit-hash: 328cf1ad86079746b4f3fde55539e4acb92d285e
* Set the cpu limit to 25
old-commit-hash: 7ba696ff54c5d3bfa42e42624d124f2a1914a96d
* Make it prettier
old-commit-hash: cd6270dec80d8b9dac784ddd4767a1a46bcff4b7
* Prettier
old-commit-hash: 1b17931d23d37f299dad54139eaf283a89592bf5
* Increase the cpu budget to 260
old-commit-hash: 20173afb937a2609c8a9905aee0b2b093cb8bba4
* Change trans std mult. 2 works better
* Update ref commit
* Update ref commit
2024-09-04 11:54:57 +02:00
Joost Wooning
c0ac9bb63c
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
old-commit-hash: 3420707ad5
2021-04-20 11:56:43 +02:00
Willem Melching
7483953935
disable GC for locationd and paramsd ( #20680 )
...
old-commit-hash: fc478ff920
2021-04-14 23:59:29 -07:00
Willem Melching
99a8e9222e
Add list for average frequency ignore ( #20624 )
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* add list for averge frequency ignore
* typo
old-commit-hash: c1075037ba
2021-04-08 18:04:16 +02:00
HaraldSchafer
cf6c7cb2b8
Update locationd ( #20410 )
...
* this was too extreme
* unused import
* capnp wants bools
* update refs
old-commit-hash: 8bddaa7607
2021-03-19 17:12:34 -07:00
Adeeb Shihadeh
05eb44115e
cereal cleanup part 2 ( #20092 )
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* 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
old-commit-hash: 312b681a46
2021-02-16 21:39:32 -08:00
HaraldSchafer
0e6e652521
fix timestamps ( #20029 )
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* fix timestamps
* nanoseconds
* update refs
old-commit-hash: b3a868103a
2021-02-08 22:15:05 -08:00
Willem Melching
17d5446650
Timezoned ( #19960 )
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* untested code
* add to manager
* whitespace
* only save on fix
* cleanup
* fix typo
* add to ignored processes
* import tici
* fix param name
* cleanup
* only run offroad
* use itertools
* wait for thermald
* simpler
* fall back to api call
* add param to override timezone
Co-authored-by: Comma Device <device@comma.ai >
old-commit-hash: 4c04e220a1
2021-02-06 11:07:37 +01:00
HaraldSchafer
c4d50c0bf0
preinit locationd filter ( #2569 )
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* preinit
* update ref commit
old-commit-hash: 9f5dfb74f9
2020-11-19 15:14:35 -08:00
Willem Melching
03b2a6a137
LSM6DS3 ( #2268 )
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* add initial lsm6ds3 setup
* accel works
* ignore lsm6ds3 in locationd
* add gyro
* add temp
Co-authored-by: Comma Device <device@comma.ai >
old-commit-hash: e51da619c1
2020-10-05 16:16:25 +02:00
HaraldSchafer
e85d1f0044
persist falling until message sent ( #1982 )
...
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
old-commit-hash: 85a7ceaf07
2020-08-06 14:46:19 -07:00
Harald Schafer
3705a2209f
wrong units
...
old-commit-hash: 687afa9687
2020-08-05 13:45:58 -07:00
Harald Schafer
daf9176711
Revert "persist falling test"
...
This reverts commit 273f745ad5d1ce7e92ce24e8fa3b08895977dd5c.
old-commit-hash: 7032a40717
2020-08-05 10:46:26 -07:00
Harald Schafer
d252db9da9
persist falling test
...
old-commit-hash: 8cad9375d3
2020-08-05 10:44:40 -07:00
HaraldSchafer
122118ccd4
add fall filter and less FP on posenet ( #1971 )
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* add fall filter and less FP on posenet
* add alert
* list
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
old-commit-hash: 490ee52687
2020-08-03 15:51:56 -07:00
Adeeb Shihadeh
f8e08fad90
Cleanup locationd msg building ( #1972 )
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* cleanup locationd msg building
* remove that
old-commit-hash: 1208ac424d
2020-08-03 14:58:15 -07:00
HaraldSchafer
bc3b340694
Misc locationd improvements ( #1714 )
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* I like this more
* rewind less
* bump rednose
* falling off windshield detectopr
* adjust thresholds
* this is a soft disable now
* move that
* process replay fixes
* update refs
Co-authored-by: Comma Device <device@comma.ai >
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
old-commit-hash: 8e2d344135
2020-07-30 15:33:22 -07:00
Willem Melching
08fa4c4691
Locationd: only process valid log messages ( #1761 )
...
old-commit-hash: bfeefb6fd3
2020-06-22 14:41:15 -07:00
Willem Melching
6dc1c6e58e
cleanup no sensor data alert ( #1760 )
...
old-commit-hash: 264015c584
2020-06-22 14:27:07 -07:00
HaraldSchafer
c26f15d608
need to do something about the valid ( #1713 )
...
old-commit-hash: 2afe224813
2020-06-15 17:20:31 -07:00
Willem Melching
76a465e0ec
Write orientation & transform in C++ ( #1637 )
...
* locationd at 20hz
* update ref
* bump cereal
* dont modify global state
* add scons files
* ecef2geodetic and geodetic2ecef
* Finish local coords class
* Add header file
* Add orientation.cc
* cleanup
* Add functions to header file
* Add cython wrapper
* y u no work?
* This passes the tests
* test rot2quat and quat2rot
* Teste euler2rot and rot2euler
* rot_matrix
* test ecef_euler_from_ned and ned_euler_from_ecef
* add benchmark
* Add test
* Consistent newlines
* no more radians supported in geodetic
* test localcoord single
* test localcoord single
* all tests pass
* Unused import
* Add alternate namings
* Add source for formulas
* no explicit tests needed
* remove benchmark
* Add release files
* Typo
* Remove print statement
* no access to raw transform matrix
* temporarily add tolerance
* handcode quat2euler
* update ref
old-commit-hash: c18e7da3c2
2020-06-09 16:44:26 -07:00
Adeeb
9027018368
Update Flake8 config ( #1624 )
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* update flake8 checks
* add E502
* no whitespace warnings
* fix violations
* no W391
Co-authored-by: Jason Young <jason@comma.ai >
old-commit-hash: 367155168a
2020-06-03 16:13:34 -07:00
Willem Melching
a56e2b01f8
Make pylint more strict ( #1626 )
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* make pylint more strict
* cleanup in progress
* done cleaning up
* no opendbc
old-commit-hash: 843a64c72f
2020-06-02 16:29:32 -07:00
Adeeb Shihadeh
9823f1164c
enable flake8 E303: too many blank lines
...
old-commit-hash: f3dcf861c7
2020-05-31 17:21:11 -07:00
Adeeb Shihadeh
be0b43f339
enable flake8 E231: missing whitespace after comma
...
old-commit-hash: efd5dffb1e
2020-05-31 12:49:11 -07:00
Willem Melching
03a268fd0b
add gpsOK flag to liveLocationKalman
...
old-commit-hash: 8ea8f405db
2020-05-27 15:14:13 -07:00
Willem Melching
47c5f52067
Locationd fixes
...
old-commit-hash: 8f3e932f96
2020-05-20 14:18:28 -07:00
Willem Melching
6e41973c3c
Handle posenet and sensor alerts in locationd ( #1541 )
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* handle posenet and senor alerts in locationd
* defaults now set in capnp file
* Cleanup c++ version of params learner
* update ref commit
old-commit-hash: d099e09fb7
2020-05-19 16:45:20 -07:00
HaraldSchafer
e21bbf8bbd
Locationd cleanup ( #1517 )
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* way cleaner take 2
* cleanup
* be more relaxed
* just let it be
* don't drive backwards or upside down
* do this more
* vNED sometyimes invalid
* use reasonble stds
* stability in nonlinear zone
* previous metrics were without publishing
old-commit-hash: 81686547cc
2020-05-17 20:59:53 -07:00
Harald Schafer
99d9c3651c
xRevert "way cleaner"
...
This reverts commit b8d13b1b44c6d33cb8209aac7fa65a269d8892b9.
old-commit-hash: 273e81715a
2020-05-15 14:29:34 -07:00
Harald Schafer
696fd01f9d
way cleaner
...
old-commit-hash: a4ffd8c226
2020-05-15 14:24:11 -07:00
Willem Melching
8f71de0dbe
Rednose ( #1503 )
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* 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
old-commit-hash: 28bf5d1dd8
2020-05-14 15:36:56 -07:00
George Hotz
6fbcde48e5
Using lgtm.com and fixing found alerts ( #1452 )
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* lgtm in readme, and mac nui fixes
* call super inits in radars
* unused imports, dup lines
* more radars, more unused imports
* pass CP into RadarInterfaceBase
* more fixups
* unused imports
* delete unused lines
* ugh, new unused import
Co-authored-by: George Hotz <geohot@gmail.com >
old-commit-hash: 1295cfe06c
2020-05-02 12:07:34 -07:00
Willem Melching
8a23af0dce
Refactor locationd message building
...
old-commit-hash: 12af1f9175
2020-04-21 17:13:54 -07:00
Harald Schafer
6f97b0c21e
better nothing than wrong
...
old-commit-hash: cc5b9b32bf
2020-03-24 11:01:41 -07:00
Harald Schafer
afe66c742e
correctness is expensive
...
old-commit-hash: 82f316732a
2020-03-23 18:02:59 -07:00
Harald Schafer
83ea66cbfb
need sqrtsd
...
old-commit-hash: bcbcd96d92
2020-03-18 15:23:59 -07:00
Shane Smiskol
682c866a55
initialize all messages in 1 line ( #1206 )
...
old-commit-hash: 6ff881f789
2020-03-05 17:32:52 -08:00
HaraldSchafer
b038c1f93b
Locationd packet ( #1204 )
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* initial
* add desire
* initial
* some progress
* fill in, untests
* add timestamping
* fixes
* unix timestamp
* no debug print
* cleanre
* normal syntax
* no laika
old-commit-hash: 24eeec4e0b
2020-03-05 15:59:49 -08:00
Willem Melching
e7a1ece98f
Run locationd online ( #1089 )
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* add locationd to manager
* add to release files and make linter happy
* Don't ship all models
* Also add locationd.py
* Remove unused import
* Fix import in kalman helpers
old-commit-hash: ff91c6f9d4
2020-02-17 18:07:23 -08:00
Comma Device
6be9fa3287
more decimation
...
old-commit-hash: 76b3dca208
2020-02-13 23:54:45 +00:00
Harald Schafer
fd44a0f698
better packet info
...
old-commit-hash: 4470407729
2020-02-13 11:12:16 -08:00
Harald Schafer
0f8201cd91
no delay buffer for now
...
old-commit-hash: 579a9714da
2020-02-12 10:31:15 -08:00
