Move calibration values (#441)

* initial commit

* moved constants

old-commit-hash: 53c6ca6589

selfdrive/controls/controlsd.py

@@ -25,17 +25,12 @@ from selfdrive.controls.lib.latcontrol import LatControl
 from selfdrive.controls.lib.alertmanager import AlertManager
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.controls.lib.driver_monitor import DriverStatus
+from selfdrive.locationd.calibration_values import Calibration, Filter
 
 ThermalStatus = log.ThermalData.ThermalStatus
 State = log.Live100Data.ControlState
 
 
-class Calibration:
-  UNCALIBRATED = 0
-  CALIBRATED = 1
-  INVALID = 2
-
-
 def isActive(state):
   """Check if the actuators are enabled"""
   return state in [State.enabled, State.softDisabling]
@@ -293,7 +288,10 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
     extra_text_1, extra_text_2 = "", ""
     if e == "calibrationIncomplete":
       extra_text_1 = str(cal_perc) + "%"
-      extra_text_2 = "35 kph" if is_metric else "15 mph"
+      if is_metric:
+        extra_text_2 = str(int(round(Filter.MIN_SPEED * CV.MS_TO_KPH))) + " kph"
+      else:
+        extra_text_2 = str(int(round(Filter.MIN_SPEED * CV.MS_TO_MPH))) + " mph"
     AM.add(str(e) + "Permanent", enabled, extra_text_1=extra_text_1, extra_text_2=extra_text_2)
 
   AM.process_alerts(sec_since_boot())

selfdrive/locationd/calibration_values.py

@@ -0,0 +1,11 @@
+import math
+
+class Filter:
+  MIN_SPEED = 7 # m/s  (~15.5mph)
+  MAX_YAW_RATE = math.radians(3) # per second
+
+class Calibration:
+  UNCALIBRATED = 0
+  CALIBRATED = 1
+  INVALID = 2
+

selfdrive/locationd/calibrationd.py

@@ -3,10 +3,10 @@ import os
 import zmq
 import cv2
 import copy
-import math
 import json
 import numpy as np
 import selfdrive.messaging as messaging
+from selfdrive.locationd.calibration_values import Calibration, Filter
 from selfdrive.swaglog import cloudlog
 from selfdrive.services import service_list
 from common.params import Params
@@ -17,8 +17,6 @@ from common.transformations.camera import view_frame_from_device_frame, get_view
                                           eon_intrinsics, get_calib_from_vp, normalize, denormalize, H, W
 
 
-MIN_SPEED_FILTER = 7 # m/s  (~15.5mph)
-MAX_YAW_RATE_FILTER = math.radians(3) # per second
 FRAMES_NEEDED = 120  # allow to update VP every so many frames
 VP_CYCLES_NEEDED = 2
 CALIBRATION_CYCLES_NEEDED = FRAMES_NEEDED * VP_CYCLES_NEEDED
@@ -42,12 +40,6 @@ c_code += "\n" + open(os.path.join(EXTERNAL_PATH, "get_vp.c")).read()
 ffi, lib = ffi_wrap('get_vp', c_code, c_header)
 
 
-class Calibration:
-  UNCALIBRATED = 0
-  CALIBRATED = 1
-  INVALID = 2
-
-
 def increment_grid_c(grid, lines, n):
   lib.increment_grid(ffi.cast("double *", grid.ctypes.data),
                 ffi.cast("double *", lines.ctypes.data),
@@ -131,8 +123,8 @@ class Calibrator(object):
 
   def update(self, uvs, yaw_rate, speed):
     if len(uvs) < 10 or \
-       abs(yaw_rate) > MAX_YAW_RATE_FILTER or \
-       speed < MIN_SPEED_FILTER:
+       abs(yaw_rate) > Filter.MAX_YAW_RATE or \
+       speed < Filter.MIN_SPEED:
       return
     rot_speeds = np.array([0.,0.,-yaw_rate])
     uvs[:,1,:] = denormalize(correct_pts(normalize(uvs[:,1,:]), rot_speeds, self.dt))