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Laikad upgrades: prep for laikad lld (#29545)

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* Laikad upgrades: prep for laikad lld

* Update ref commit
x-golf3
Harald Schäfer 2 years ago committed by GitHub
parent 1ea310b202
commit 8a7281d285
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4 changed files with 26 additions and 41 deletions
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  1. 2
      laika_repo
  2. 57
      selfdrive/locationd/laikad.py
  3. 4
      selfdrive/locationd/test/test_laikad.py
  4. 2
      selfdrive/test/process_replay/ref_commit

2
laika_repo

@ -1 +1 @@
Subproject commit 65901a1e6c7c7940d8c97027d3edaca7d0132253
Subproject commit 989b6a8505441a550c94f60b4378be296ea3fe92

57
selfdrive/locationd/laikad.py
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@ -18,7 +18,8 @@ from laika.downloader import DownloadFailed
from laika.ephemeris import EphemerisType, GPSEphemeris, GLONASSEphemeris, ephemeris_structs, parse_qcom_ephem
from laika.gps_time import GPSTime
from laika.helpers import ConstellationId, get_sv_id
from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox, read_raw_qcom
from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox
from laika.raw_gnss import gps_time_from_qcom_report, get_measurements_from_qcom_reports
from laika.opt import calc_pos_fix, get_posfix_sympy_fun, calc_vel_fix, get_velfix_sympy_func
from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind
from openpilot.selfdrive.locationd.models.gnss_kf import GNSSKalman
@ -102,9 +103,10 @@ class Laikad:
self.use_qcom = use_qcom
self.first_log_time = None
self.ttff = -1
self.measurement_lag = 0.630 if self.use_qcom else 0.095
# qcom specific stuff
self.qcom_reports_received = 1
self.qcom_reports_received = 4
self.qcom_reports = []
def load_cache(self):
@ -161,47 +163,31 @@ class Laikad:
def get_lsq_fix(self, t, measurements):
if self.last_fix_t is None or abs(self.last_fix_t - t) > 0:
min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in measurements) else 4
position_solution, pr_residuals, pos_std = calc_pos_fix(measurements, self.posfix_functions, min_measurements=min_measurements)
if len(position_solution) < 3:
return None
position_estimate = position_solution[:3]
position_std_residual = np.median(np.abs(pr_residuals))
position_std = np.median(np.abs(pos_std))/10
position_std = max(position_std_residual, position_std) * np.ones(3)
position_std = pos_std[:3]
velocity_solution, prr_residuals, vel_std = calc_vel_fix(measurements, position_estimate, self.velfix_function, min_measurements=min_measurements)
if len(velocity_solution) < 3:
return None
velocity_estimate = velocity_solution[:3]
velocity_std_residual = np.median(np.abs(prr_residuals))
velocity_std = np.median(np.abs(vel_std))/10
velocity_std = max(velocity_std, velocity_std_residual) * np.ones(3)
velocity_std = vel_std[:3]
return position_estimate, position_std, velocity_estimate, velocity_std
def gps_time_from_qcom_report(self, gnss_msg):
report = gnss_msg.drMeasurementReport
if report.source == log.QcomGnss.MeasurementSource.gps:
report_time = GPSTime(report.gpsWeek, report.gpsMilliseconds / 1000.0)
elif report.source == log.QcomGnss.MeasurementSource.sbas:
report_time = GPSTime(report.gpsWeek, report.gpsMilliseconds / 1000.0)
elif report.source == log.QcomGnss.MeasurementSource.glonass:
report_time = GPSTime.from_glonass(report.glonassYear,
report.glonassDay,
report.glonassMilliseconds / 1000.0)
else:
raise NotImplementedError(f'Unknownconstellation {report.source}')
return report_time
def is_good_report(self, gnss_msg):
if gnss_msg.which() == 'drMeasurementReport' and self.use_qcom:
if gnss_msg.which() in ['drMeasurementReport', 'measurementReport'] and self.use_qcom:
# TODO: Understand and use remaining unknown constellations
try:
if gnss_msg.which() == 'drMeasurementReport':
constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source)
else:
constellation_id = ConstellationId.from_qcom_source(gnss_msg.measurementReport.source)
good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS, ConstellationId.GLONASS]
report_time = self.gps_time_from_qcom_report(gnss_msg)
report_time = gps_time_from_qcom_report(gnss_msg)
except NotImplementedError:
return False
# Garbage timestamps with week > 32767 are sometimes sent by module.
@ -216,21 +202,20 @@ class Laikad:
def read_report(self, gnss_msg):
if self.use_qcom:
# QCOM reports are per constellation, so we need to aggregate them
report = gnss_msg.drMeasurementReport
report_time = self.gps_time_from_qcom_report(gnss_msg)
# Additionally, the pseudoranges are broken in the measurementReports
# and the doppler filteredSpeed is broken in the drMeasurementReports
report_time = gps_time_from_qcom_report(gnss_msg)
if report_time - self.last_report_time > 0:
self.qcom_reports_received = max(1, len(self.qcom_reports))
self.qcom_reports = [report]
self.qcom_reports = [gnss_msg]
else:
self.qcom_reports.append(report)
self.qcom_reports.append(gnss_msg)
self.last_report_time = report_time
new_meas = []
if len(self.qcom_reports) == self.qcom_reports_received:
for report in self.qcom_reports:
new_meas.extend(read_raw_qcom(report))
new_meas = get_measurements_from_qcom_reports(self.qcom_reports)
else:
new_meas = []
else:
report = gnss_msg.measurementReport
self.last_report_time = GPSTime(report.gpsWeek, report.rcvTow)
@ -300,7 +285,7 @@ class Laikad:
def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False):
out_msg = messaging.new_message("gnssMeasurements")
t = gnss_mono_time * 1e-9
msg_dict: Dict[str, Any] = {"measTime": gnss_mono_time}
msg_dict: Dict[str, Any] = {"measTime": gnss_mono_time - int(1e9 * self.measurement_lag)}
if self.first_log_time is None:
self.first_log_time = 1e-9 * gnss_mono_time
if self.is_ephemeris(gnss_msg):

4
selfdrive/locationd/test/test_laikad.py
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@ -177,8 +177,8 @@ class TestLaikad(unittest.TestCase):
laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV, use_qcom=use_qcom)
# Disable fetch_orbits to test NAV only
correct_msgs = verify_messages(logs, laikad)
correct_msgs_expected = 56 if use_qcom else 560
valid_fix_expected = 56 if use_qcom else 560
correct_msgs_expected = 55 if use_qcom else 560
valid_fix_expected = 55 if use_qcom else 560
self.assertEqual(correct_msgs_expected, len(correct_msgs))
self.assertEqual(valid_fix_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
72e3d7b660ee92f5adcc249112cf04c703f4bf9e
4846f6f416128ba74837829643aa3fe0897c5621
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