From 4708268c7de1a23ee2cbd00a5175ae10e1d794e0 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Tue, 14 Dec 2021 13:59:39 -0800 Subject: [PATCH] Revert "Dont use erratic current block (#23211)" (#23221) This reverts commit 5c76900f565c8e55f5738efb8fdf5d6a846dbe0e. old-commit-hash: 837823ff58b57d49bc079a5d7f9ea8db55dc7d76 --- selfdrive/locationd/calibrationd.py | 12 +++--------- 1 file changed, 3 insertions(+), 9 deletions(-) diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 0ba2bad7e4..604f4f68d9 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -99,16 +99,10 @@ class Calibrator(): self.old_rpy = smooth_from self.old_rpy_weight = 1.0 - def get_valid_idxs(self, ): - # exclude current block_idx from validity window - before_current = list(range(self.block_idx)) - after_current = list(range(min(self.valid_blocks, self.block_idx + 1), self.valid_blocks)) - return before_current + after_current - def update_status(self): if self.valid_blocks > 0: - max_rpy_calib = np.array(np.max(self.rpys[self.get_valid_idxs()], axis=0)) - min_rpy_calib = np.array(np.min(self.rpys[self.get_valid_idxs()], axis=0)) + max_rpy_calib = np.array(np.max(self.rpys[:self.valid_blocks], axis=0)) + min_rpy_calib = np.array(np.min(self.rpys[:self.valid_blocks], axis=0)) self.calib_spread = np.abs(max_rpy_calib - min_rpy_calib) else: self.calib_spread = np.zeros(3) @@ -164,7 +158,7 @@ class Calibrator(): self.valid_blocks = max(self.block_idx, self.valid_blocks) self.block_idx = self.block_idx % INPUTS_WANTED if self.valid_blocks > 0: - self.rpy = np.mean(self.rpys[self.get_valid_idxs()], axis=0) + self.rpy = np.mean(self.rpys[:self.valid_blocks], axis=0) self.update_status()