mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-02-20 14:53:56 +08:00
Code Issues Packages Projects Releases Wiki Activity
5,529 Commits 186 Branches 165 Tags
fc7d152dcafe3274aeb35d9c2f7599300ec8489e
Commit Graph

250 Commits

Author SHA1 Message Date
HaraldSchafer
cf466222f6 Road Roll Compensation Rebased (#23251) 
* first commit

* update refs
 2021-12-16 17:34:12 -08:00
HaraldSchafer
cd190dc85d Calibrationd: check size of valid_blocks without current (#23223) 2021-12-14 15:14:14 -08:00
HaraldSchafer
40dcc63823 Calibrationd: don't use noisy current block (#23222) 2021-12-14 14:09:38 -08:00
HaraldSchafer
837823ff58 Revert "Dont use erratic current block (#23211)" (#23221) 
This reverts commit 19335bb6a4.
 2021-12-14 13:59:39 -08:00
HaraldSchafer
19335bb6a4 Dont use erratic current block (#23211) 2021-12-14 13:58:42 -08:00
Dean Lee
4aa291c406 Use std::unique_ptr to manage memory (#23168) 
* use unique_ptr

* trigger ci

* move down loggerdstate
 2021-12-13 14:16:53 +01:00
Dean Lee
9decd3d8a2 util: move all functions into util namespace (#23203) 2021-12-12 14:42:23 -08:00
Dean Lee
48963d4b24 locationd_thread: fix possible dangling reference to params (#23156) 2021-12-08 17:46:18 +01:00
Robbe Derks
bb7208f4c3 add check for restoring almanac, and clear like suggested in the datasheet (#23153) 
Co-authored-by: Comma Device <device@comma.ai>
 2021-12-08 14:13:56 +01:00
Vivek Aithal
64eb5b0da4 locationd: cleanup (#23088) 
* remove dead code, avoid indexing by value in locationd

* remove dead states in live_kf
 2021-12-01 00:09:00 -08:00
Vivek Aithal
b57f55088e add a note in loc_kf (#23082) 2021-11-30 10:51:32 -08:00
Vivek Aithal
5040427cb7 Mesh3D: Add accelerometer bias to loc_kf (#22880) 
* add accel-bias to mesh3d

* remove acc scale
 2021-11-29 19:30:14 -08:00
Vivek Aithal
8b6a147583 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
 2021-11-24 15:24:25 -08:00
Vivek Aithal
94d59314e2 Revert ecef std until real fix (#22982) 
* too low

* update refs

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
 2021-11-19 12:49:32 -08:00
Vivek Aithal
534bf697ee 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
 2021-11-12 15:55:16 -08:00
Vivek Aithal
c7be73b826 locationd: Set ECEF_POS valid flag to false if in no-gps mode (#22857) 
* set ECEF_POS valid flag to false if in no-gps mode

* modify valid flag for all ecef states before gps

* add calibrated valid when no gps

* update refs

* remove extra whitespace

* add invalid flag to all NED values pre gps

* update refs

* update correct refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-11-11 21:34:17 -08:00
Vivek Aithal
5c810a45b0 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
 2021-11-09 14:45:47 -08:00
Mayfield
5246f0231e enable wshadow (#22756) 
* enable wshadow (#22714)

* fix replay

* more build fixes

Co-authored-by: Willem Melching <willem.melching@gmail.com>
 2021-11-02 17:08:53 +01:00
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