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
Kacper Rączy
75cc300480
paramsd: refactor VehicleParamsLearner ( #34955 )
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* Refactor ParamsLearner
* Make it VehicleParamsLearner
* Fix
* Use capnp serialization instead of json
* Fix speed
* Remove redundant comments
* Monitor observed_roll
* Just use init_state
* Comment
* Improve reset
* Set globals api
* Typing for return value
* Redo reset messaging
* Remove usages of math
* Fix process_replay custom_params
* Type ignores for rednose fields
* Remove import
* Reset previous values too
* Update ref_commit
* Revert it
* Bring it back
* Remove more
* Add migration for cached params
2025-03-31 20:07:39 +00:00
Shane Smiskol
6723106bf5
Move vehicle_model.py to opendbc ( #34681 )
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* move
* fix
* move test too
* bump
* better
* bump to master
2025-02-26 17:35:43 -08:00
Kacper Rączy
236dffe400
locationd no GPS ( #33029 )
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* 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
Adeeb Shihadeh
3358745103
ruff: enable UP
...
old-commit-hash: b2e4c64cf8
2024-05-20 17:43:54 -07:00
Cameron Clough
9bd90112d0
use pyupgrade to update to new typing syntax ( #31580 )
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* add pyupgrade hook
* run pyupgrade (pre-commit run -a)
* ruff --fix
* Revert "add pyupgrade hook"
This reverts commit 56ec18bb6b8602a0b612f3803d96cdad14b52066.
* revert changes to third_party/
* manual type fixes
* explicit Optional wrapping capnp objects
old-commit-hash: 995250ae49
2024-02-24 16:41:23 -08:00
Adeeb Shihadeh
59eb2988de
swaglog.py goes in common/ ( #30631 )
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* swaglog.py goes in common/
* all of these go in release
* we'll even include the pyx
old-commit-hash: 35f819c823
2023-12-06 17:27:51 -08:00
Kacper Rączy
9cd71f897a
locationd: remove models unused in openpilot ( #30481 )
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* Remove filters used exclusively by xx
* Update SConstruct
* Remove from release
* Accomodate rednose build changes
* Update rednose ref
* rednose/helpers in rpath
* Add rednose_filters to files_common
* Change rednose_root
* Copy rednose site_scons to docker images
* Remove rednose from rpath
* Bump rednose
* Bump rednose
* Bump rednose
old-commit-hash: f65e6bc30e
2023-11-22 13:25:29 -08:00
Kacper Rączy
7cac430ecc
Remove laika submodule ( #30453 )
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* Remove laika submodule
* Remove laika check for minimal builds
* Fix minimal build check
* Bring back exclude for opendbc in codespell
* Fix typo
* Copy GNSS indices from laika
* Delete laika dependencies
old-commit-hash: 2de13bea91
2023-11-15 10:06:37 +01:00
Justin Newberry
3b91610c0b
Precommit: ensure executable bit is set ( #29784 )
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* precommit ensure executable
* exclude tinygrad
* bump submodules
* exclude tinygrad globally
old-commit-hash: 4e69937d0d
2023-09-05 16:33:26 -07:00
Justin Newberry
c4f322ce2d
Linter: remove pylint ( #29611 )
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remove pylint
old-commit-hash: 1ee6ed4b16
2023-08-24 16:30:54 -07:00
Dean Lee
1a2f9c464b
locationd: passing eigen objects by reference ( #28719 )
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pass eigen objects by reference
old-commit-hash: 3930ec9fac
2023-08-24 12:55:47 -07:00
Dean Lee
0984736972
cpplint: add filter build/include_subdir ( #29585 )
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old-commit-hash: 21da5a216f
2023-08-24 15:42:17 +01:00
Dean Lee
97e9d55588
cpplint: build/include_what_you_use ( #29556 )
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* include_what_you_use
* remove comments
* include <memory>
---------
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
old-commit-hash: 2d99521e75
2023-08-23 13:25:17 -07:00
Adeeb Shihadeh
16ec56398c
add openpilot prefix to imports ( #29498 )
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* add openpilot prefix to imports
* more
* more
* fix docs
* fix linter
* bump submodules
* fix patched tests
* update dynamic imports
* debug
* Revert "debug"
This reverts commit db5e13b9911cc74438bee123bc3430da6c31b24b.
* fix pm test
old-commit-hash: a9626f95b6
2023-08-20 20:49:55 -07:00
Justin Newberry
f33b4de80b
Ruff: b905 (strict zip) ( #29336 )
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* added mutable default args
* most of the Bs
* add comment about lrucache
* b905
old-commit-hash: e4ead4f183
2023-08-11 16:13:51 -07:00
Justin Newberry
3ee0786de3
CI: Pylint to ruff ( #29294 )
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* pylint to riff
* pylint to riff
* pylint to riff
* revert more
* undo exclude removal
* exclude tinygrad
* set line length
* pylint exclusions to ruff
* same excludes as old linter
* fix tools QA
* remove unrequired check
* revert linting third_party
* ignore e402
old-commit-hash: 7fdd9fc37c
2023-08-09 13:26:54 -07:00
Justin Newberry
7b677910df
Linter: Fix >160 line length test ( #29287 )
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* test
* fix line length
* fix line length
* fix file size
* revert poetry
* cleanup for PR
old-commit-hash: cf64b27168
2023-08-08 17:13:35 -07:00
Adeeb Shihadeh
e33973cdd4
pre-commit: autoupdate hooks ( #29198 )
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* Update pre-commit hook versions
* fix
* bump submodules
* one more
---------
Co-authored-by: adeebshihadeh <adeebshihadeh@users.noreply.github.com >
old-commit-hash: 39ce23420c
2023-08-01 12:32:21 -07:00
Harald Schäfer
86b8e2eb8c
Qcom localizer: erratic clocks have an erratic error rate too ( #28654 )
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Erratic clocks drift erratically too
old-commit-hash: af9edb020d
2023-06-23 09:44:37 -07:00
Harald Schäfer
f1f5f15f12
Add lane ekf ( #26986 )
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* change lane_kf pos
* add lane back here
old-commit-hash: af97a96080
2023-01-16 19:43:34 -08:00
HaraldSchafer
eac9ec1570
locationd: Fix GPS sensor times with fixed offsets ( #25920 )
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* 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 >
old-commit-hash: b332441803
2022-10-12 17:47:30 -07:00
Adeeb Shihadeh
35ff65121e
pre-commit: add codespell ( #25571 )
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old-commit-hash: 6590fb2b93
2022-08-30 11:20:55 -07:00
HaraldSchafer
fa226dd852
Support quectel gps ( #25299 )
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* qcom clock gets corrected randomly it seems
* Use quectel gps
* fix small laikad bugs
* Support both
* Support ublox and qcom clock model
* fix laikad test
* fix typo
* Back to original value
* More typos
Co-authored-by: Comma Device <device@comma.ai >
old-commit-hash: 11da2804f6
2022-07-28 10:56:59 -07:00
HaraldSchafer
fa85de9f8b
Full localizer: Use standard naming conventions ( #25007 )
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Use standard naming conventions
old-commit-hash: dd43ae2856
2022-06-30 14:49:17 -07:00
Gijs Koning
6a83611df2
Update rednose: use EKF_sym_pyx ( #24978 )
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* Update rednose
* Update rednose
* cleanup
old-commit-hash: fdc22554b8
2022-06-28 11:32:51 +02:00
Gijs Koning
5494622601
Improve laikad cpu usage. Less pos fix. Less local imports ( #24887 )
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* Improve laikad cpu usage. Less pos fix. Not local imports
* Add laika to files_common
* Add laika to dockerfile sim
* Fix
* Fix
* undo
old-commit-hash: 1c4b145aa4
2022-06-20 14:24:11 +02:00
Gijs Koning
226edb4918
laikad: fixes to run on device ( #24879 )
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* Always run laikad on device!
* Update laika
* Update laika
* Fix gps week and time of week in msg
* Reset kalman filter if pos_fix or last_known_position
* put behind file
* move pr parsing into common file
Co-authored-by: Willem Melching <willem.melching@gmail.com >
old-commit-hash: dc98511b7a
2022-06-16 17:45:08 +02:00
Adeeb Shihadeh
3c48bc47b7
Move a bunch of stuff to system/ part 3 ( #24829 )
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* move swaglog.py
* timezoned
* logmessaged
* version.py
* fix linter
old-commit-hash: 0fce5d9045
2022-06-11 23:19:27 -07:00
HaraldSchafer
6bd1706b52
Offline localizer: accept addition camera ( #24266 )
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* Offline localizer: add option for additional camera
* add names
* fix some bugs
* Wide ORB features are less accurate
* add comment
old-commit-hash: a762567de9
2022-04-19 22:45:35 -07:00
Adeeb Shihadeh
bd71c594a2
pylint: enforce indentation (W0311) ( #24039 )
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* pylint: enforce indentation (W0311)
* few more
old-commit-hash: 8af20af66d
2022-03-24 23:23:29 -07:00
Vivek Aithal
1eb13fdc65
paramsd: fix VehicleModelInvalid errors ( #23726 )
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* 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
old-commit-hash: 8a2cbfe00b
2022-02-09 17:37:28 -08:00
Ewout ter Hoeven
f206ebd054
Pyupgrade 3.6: Update syntax with Python 3.6+ features ( #23305 )
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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 >
old-commit-hash: 332f568a82
2021-12-24 11:18:39 -08:00
HaraldSchafer
f64c2974b4
Road Roll Compensation Rebased ( #23251 )
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* first commit
* update refs
old-commit-hash: cf466222f6
2021-12-16 17:34:12 -08:00
Vivek Aithal
37ccdd8127
locationd: cleanup ( #23088 )
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* remove dead code, avoid indexing by value in locationd
* remove dead states in live_kf
old-commit-hash: 64eb5b0da4
2021-12-01 00:09:00 -08:00
Vivek Aithal
b2ddfb3719
add a note in loc_kf ( #23082 )
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old-commit-hash: b57f55088e
2021-11-30 10:51:32 -08:00
Vivek Aithal
87f37d73a3
Mesh3D: Add accelerometer bias to loc_kf ( #22880 )
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* add accel-bias to mesh3d
* remove acc scale
old-commit-hash: 5040427cb7
2021-11-29 19:30:14 -08:00
Vivek Aithal
d537897e9a
locationd: Fix Nav localization reliability ( #22959 )
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* 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
old-commit-hash: 8b6a147583
2021-11-24 15:24:25 -08:00
Vivek Aithal
16d9fcbd80
Revert ecef std until real fix ( #22982 )
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* too low
* update refs
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com >
old-commit-hash: 94d59314e2
2021-11-19 12:49:32 -08:00
Vivek Aithal
27a6dc0c08
locationd : Acceleration Bias in locationd ( #22879 )
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* 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
old-commit-hash: 534bf697ee
2021-11-12 15:55:16 -08:00
Vivek Aithal
6bc1c7b502
locationd: Make live_kf robust to no GPS ( #22774 )
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* 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
old-commit-hash: 5c810a45b0
2021-11-09 14:45:47 -08:00
Vivek Aithal
b150ceffa4
locationd: Gyro bias initial covariance ( #22622 )
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* reduce cam odo std multiplier
* increase gyro obs noise
* increase initial cov for gyro bias
old-commit-hash: 2006aa412e
2021-10-22 21:00:01 -07:00
Vivek Aithal
0bc7ccfbaa
remove confusing logic in live_kf, move to locationd ( #22558 )
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old-commit-hash: d22f57e36d
2021-10-14 11:57:50 -07:00
HaraldSchafer
eff53180ca
Update car_kf.py
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old-commit-hash: a3071bf15b
2021-06-18 17:57:42 -07:00
HaraldSchafer
420090ffea
time checks in locationd ( #20880 )
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* time checks
* no debug print
* correct timestamps in test
* non nan
old-commit-hash: 62e22e7eac
2021-05-11 15:57:13 -07:00
Willem Melching
b4263a43fc
Locationd 100 Hz ( #20816 )
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* 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 >
old-commit-hash: e9db5723ef
2021-05-06 11:01:58 +02:00
Willem Melching
41901d2204
Remove sympy import from paramsd at runtime ( #20710 )
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old-commit-hash: b27bad8776
2021-04-20 14:29:37 +02:00
Joost Wooning
c0ac9bb63c
convert locationd to c++ ( #20622 )
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* 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
Joost Wooning
ff9840c53f
locationd and paramsd using cython version of ekfsym ( #20610 )
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* 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
old-commit-hash: e6a8157916
2021-04-08 13:09:11 +02:00
HaraldSchafer
cf6c7cb2b8
Update locationd ( #20410 )
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* this was too extreme
* unused import
* capnp wants bools
* update refs
old-commit-hash: 8bddaa7607
2021-03-19 17:12:34 -07:00
