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pass cloudlog to EKF_sym

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old-commit-hash: d9c1561d3722c067b0dec5e4c63d09b00399a133
This commit is contained in:
Willem Melching
2021-03-15 13:27:12 +01:00
parent 384adf66ed
commit 9616a0f245
3 changed files with 5 additions and 3 deletions
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rednose_repo

Submodule rednose_repo updated: 2f054316cb...946a034574

3
selfdrive/locationd/models/car_kf.py
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@@ -9,6 +9,7 @@ import sympy as sp
from rednose import KalmanFilter
from rednose.helpers.ekf_sym import EKF_sym, gen_code
from selfdrive.locationd.models.constants import ObservationKind
from selfdrive.swaglog import cloudlog
i = 0
@@ -148,7 +149,7 @@ class CarKalman(KalmanFilter):
x_init[States.ANGLE_OFFSET] = angle_offset
# init filter
self.filter = EKF_sym(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, dim_state, dim_state_err, global_vars=self.global_vars)
self.filter = EKF_sym(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog)
if __name__ == "__main__":

3
selfdrive/locationd/models/live_kf.py
View File

@@ -5,6 +5,7 @@ import sys
import numpy as np
import sympy as sp
from selfdrive.swaglog import cloudlog
from selfdrive.locationd.models.constants import ObservationKind
from rednose.helpers.ekf_sym import EKF_sym, gen_code
from rednose.helpers.sympy_helpers import euler_rotate, quat_matrix_r, quat_rotate
@@ -206,7 +207,7 @@ class LiveKalman():
ObservationKind.ECEF_ORIENTATION_FROM_GPS: np.diag([.2**2, .2**2, .2**2, .2**2])}
# init filter
self.filter = EKF_sym(generated_dir, self.name, self.Q, self.initial_x, np.diag(self.initial_P_diag), self.dim_state, self.dim_state_err, max_rewind_age=0.2)
self.filter = EKF_sym(generated_dir, self.name, self.Q, self.initial_x, np.diag(self.initial_P_diag), self.dim_state, self.dim_state_err, max_rewind_age=0.2, logger=cloudlog)
@property
def x(self):