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a16a4a4e06dee8a3e8fefc1cadf7e82ae154e310
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48 Commits

Author SHA1 Message Date
Adeeb Shihadeh
3c48bc47b7 Move a bunch of stuff to system/ part 3 (#24829) 
* 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) 
* 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) 
* 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) 
* 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) 
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) 
* first commit

* update refs
old-commit-hash: cf466222f6
 2021-12-16 17:34:12 -08:00
Vivek Aithal
37ccdd8127 locationd: cleanup (#23088) 
* 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) 
old-commit-hash: b57f55088e
 2021-11-30 10:51:32 -08:00
Vivek Aithal
87f37d73a3 Mesh3D: Add accelerometer bias to loc_kf (#22880) 
* 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) 
* 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) 
* 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) 
* 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) 
* 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) 
* 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) 
old-commit-hash: d22f57e36d
 2021-10-14 11:57:50 -07:00
HaraldSchafer
eff53180ca Update car_kf.py 
old-commit-hash: a3071bf15b
 2021-06-18 17:57:42 -07:00
HaraldSchafer
420090ffea time checks in locationd (#20880) 
* 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) 
* 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) 
old-commit-hash: b27bad8776
 2021-04-20 14:29:37 +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
Joost Wooning
ff9840c53f 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
old-commit-hash: e6a8157916
 2021-04-08 13:09:11 +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
Willem Melching
9616a0f245 pass cloudlog to EKF_sym 
old-commit-hash: d9c1561d37
 2021-03-15 13:27:12 +01:00
HaraldSchafer
a1d6e4f9f0 Locationd process noise typo (#20085) 
old-commit-hash: 9e746c6dd8
 2021-02-16 11:41:21 +01:00
Adeeb Shihadeh
c55926c7b8 lgtm fixes (#19610) 
* pass matrices by reference

* suppress that

* destructor

* that's wrong, suppress it
old-commit-hash: 4096f86e21
 2020-12-28 20:36:23 -08:00
Harald Schafer
f749a2e424 use name 
old-commit-hash: 4fafdee9e4
 2020-12-03 13:29:58 -08:00
HaraldSchafer
bc3b340694 Misc locationd improvements (#1714) 
* 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
HaraldSchafer
6e6c165e7f Clean mesh3d 2 (#1618) 
* seems overkill

* not too extreme

* make linter happy

* try adding accel scale

* some tweaks

* Revert "some tweaks"

This reverts commit 58cec365da650fa653dee91c7a5cbe37b8289908.

* Revert "Revert "some tweaks""

This reverts commit 517108b5b676b4ab31bba92a9eb59afa1b3d3faf.

* stability concerns

* this works

* still works

* ugh sympy is weird, still may be not correct

* comment clean

* comment

* clarify

* fix

* unused
old-commit-hash: 87bbbd4100
 2020-06-10 17:25:48 -07:00
Adeeb
9027018368 Update Flake8 config (#1624) 
* 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) 
* 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
2b60ee9531 Run mypy commit hook (#1591) 
* run mypy commit hook

* fix mypy errors
old-commit-hash: 3d08dcc3b2
 2020-05-28 15:05:04 -07:00
Willem Melching
12a306021d flake8 in pre-commit(#1583) 
old-commit-hash: 29aaa44740
 2020-05-27 20:33:05 -07:00
Willem Melching
c0866d9edb pre-commit pylint (#1580) 
* "The commit-hook project sounds interesting though. I would definitely merge something that runs flake8 and pylint on the modified files!"
-  pd0wm, https://github.com/commaai/openpilot/pull/1575#issuecomment-634974344

* add pylint to pre-commit and make everything pass

* Remove uncommented stuff

Co-authored-by: J <user@4800.lan>
old-commit-hash: bd06434243
 2020-05-27 20:00:14 -07:00
Harald Schafer
2fca7f3900 Revert "better values" 
This reverts commit 7ac7e5f994b1e9311d50c595706dd92ca38f6205.

old-commit-hash: 5a841c2856
 2020-05-27 17:11:27 -07:00
Harald Schafer
4974754159 better values 
old-commit-hash: 109ba298b1
 2020-05-27 12:16:05 -07:00
HaraldSchafer
9dae9d6910 pure init (#1569) 
old-commit-hash: 7c8d6cbdef
 2020-05-26 20:49:14 -07:00
Harald Schafer
818695cfe7 needed for stability 
old-commit-hash: 00e05bc7d8
 2020-05-21 17:47:05 -07:00
Willem Melching
d2a41fad6e Paramsd handle liveLocation not valid and add alerts 
old-commit-hash: 44484102db
 2020-05-19 17:00:30 -07:00
HaraldSchafer
e21bbf8bbd Locationd cleanup (#1517) 
* 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
Willem Melching
046c47296f use base class in car_kf 
old-commit-hash: 896bd1b5c7
 2020-05-15 15:48:48 -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
8f4c431efc lane kf was not built 
old-commit-hash: 2cc218e144
 2020-05-15 14:22:36 -07:00
Bruce Wayne
157c671a60 make linter happy 
old-commit-hash: f8a0eb0f7a
 2020-05-14 17:38:52 -07:00
Harald Schafer
777e183af3 too complex 
old-commit-hash: 013e49bf90
 2020-05-14 16:30:00 -07:00
Willem Melching
8f71de0dbe 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
old-commit-hash: 28bf5d1dd8
 2020-05-14 15:36:56 -07:00