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Laikad preperation (#26800)

Browse Source 
* laikad update, renaming

* update locationd

* address PR comments

* draft to fix replay

* fix process relay to allow no response for messages

* bump cereal

* update process replay ref commit

* move laikad helpers to laika

* fix ublox test

* update refs

* add proper qcom replay support

* fix gnss support if both is available

* update refs

* move laika back to master

* move cereal back to master

Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com>
pull/26573/head
Kurt Nistelberger 2 years ago committed by GitHub
parent ab797588f8
commit 981532f0c3
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10 changed files with 197 additions and 179 deletions
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  1. 2
      cereal
  2. 2
      laika_repo
  3. 1
      release/files_common
  4. 154
      selfdrive/locationd/laikad.py
  5. 89
      selfdrive/locationd/laikad_helpers.py
  6. 92
      selfdrive/locationd/locationd.cc
  7. 2
      selfdrive/locationd/locationd.h
  8. 7
      selfdrive/locationd/test/test_ublox_processing.py
  9. 25
      selfdrive/test/process_replay/process_replay.py
  10. 2
      selfdrive/test/process_replay/ref_commit

2
cereal

@ -1 +1 @@
Subproject commit 22b1431132b038253a24ab3fbbe3af36ef93b95b
Subproject commit f200875ca300d3a7b9293c4effcc9456e359e505

2
laika_repo

@ -1 +1 @@
Subproject commit e1049cde0a68f7d4a70b1ebd76befdc0e163ad55
Subproject commit 5eb0c3c2596dd12a232b83bdb057a716810e89cf

1
release/files_common
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@ -233,7 +233,6 @@ selfdrive/locationd/generated/gps.cpp
selfdrive/locationd/generated/gps.h
selfdrive/locationd/laikad.py
selfdrive/locationd/laikad_helpers.py
selfdrive/locationd/locationd.h
selfdrive/locationd/locationd.cc
selfdrive/locationd/paramsd.py

154
selfdrive/locationd/laikad.py
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@ -20,7 +20,7 @@ from laika.ephemeris import Ephemeris, EphemerisType, convert_ublox_ephem, parse
from laika.gps_time import GPSTime
from laika.helpers import ConstellationId
from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox, read_raw_qcom
from selfdrive.locationd.laikad_helpers import calc_pos_fix_gauss_newton, get_posfix_sympy_fun
from laika.opt import calc_pos_fix, get_posfix_sympy_fun, calc_vel_fix, get_velfix_sympy_func
from selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind
from selfdrive.locationd.models.gnss_kf import GNSSKalman
from selfdrive.locationd.models.gnss_kf import States as GStates
@ -58,9 +58,9 @@ class Laikad:
self.load_cache()
self.posfix_functions = {constellation: get_posfix_sympy_fun(constellation) for constellation in (ConstellationId.GPS, ConstellationId.GLONASS)}
self.last_pos_fix = []
self.last_pos_residual = []
self.last_pos_fix_t = None
self.velfix_function = get_velfix_sympy_func()
self.last_fix_pos = None
self.last_fix_t = None
self.gps_week = None
self.use_qcom = use_qcom
@ -92,20 +92,23 @@ class Laikad:
cloudlog.debug("Cache saved")
self.last_cached_t = t
def get_est_pos(self, t, processed_measurements):
if self.last_pos_fix_t is None or abs(self.last_pos_fix_t - t) >= 2:
min_measurements = 6 if any(p.constellation_id == ConstellationId.GLONASS for p in processed_measurements) else 5
pos_fix, pos_fix_residual = calc_pos_fix_gauss_newton(processed_measurements, self.posfix_functions, min_measurements=min_measurements)
if len(pos_fix) > 0:
self.last_pos_fix_t = t
residual_median = np.median(np.abs(pos_fix_residual))
if np.median(np.abs(pos_fix_residual)) < POS_FIX_RESIDUAL_THRESHOLD:
cloudlog.debug(f"Pos fix is within threshold with median: {residual_median.round()}")
self.last_pos_fix = pos_fix[:3]
self.last_pos_residual = pos_fix_residual
else:
cloudlog.debug(f"Pos fix failed with median: {residual_median.round()}. All residuals: {np.round(pos_fix_residual)}")
return self.last_pos_fix
def get_lsq_fix(self, t, measurements):
if self.last_fix_t is None or abs(self.last_fix_t - t) > 0:
min_measurements = 6 if any(p.constellation_id == ConstellationId.GLONASS for p in measurements) else 5
position_solution, pr_residuals = calc_pos_fix(measurements, self.posfix_functions, min_measurements=min_measurements)
if len(position_solution) < 3:
return None
position_estimate = position_solution[:3]
#TODO median abs residual is decent estimate of std, can be improved with measurements stds and/or DOP
position_std = np.median(np.abs(pr_residuals)) * np.ones(3)
velocity_solution, prr_residuals = 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 = np.median(np.abs(prr_residuals)) * np.ones(3)
return position_estimate, position_std, velocity_estimate, velocity_std
def is_good_report(self, gnss_msg):
if gnss_msg.which() == 'drMeasurementReport' and self.use_qcom:
@ -148,11 +151,36 @@ class Laikad:
self.astro_dog.add_navs({ephem.prn: [ephem]})
self.cache_ephemeris(t=ephem.epoch)
def process_report(self, new_meas, t):
# Filter measurements with unexpected pseudoranges for GPS and GLONASS satellites
new_meas = [m for m in new_meas if 1e7 < m.observables['C1C'] < 3e7]
processed_measurements = process_measurements(new_meas, self.astro_dog)
instant_fix = self.get_lsq_fix(t, processed_measurements)
if instant_fix is None:
return None
else:
position_estimate, position_std, velocity_estimate, velocity_std = instant_fix
self.last_fix_t = t
self.last_fix_pos = position_estimate
self.lat_fix_pos_std = position_std
corrected_measurements = correct_measurements(processed_measurements, position_estimate, self.astro_dog)
if (t*1e9) % 10 == 0:
cloudlog.debug(f"Measurements Incoming/Processed/Corrected: {len(new_meas), len(processed_measurements), len(corrected_measurements)}")
return position_estimate, position_std, velocity_estimate, velocity_std, corrected_measurements, processed_measurements
def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False):
if self.is_good_report(gnss_msg):
if self.is_ephemeris(gnss_msg):
self.read_ephemeris(gnss_msg)
return None
elif self.is_good_report(gnss_msg):
week, tow, new_meas = self.read_report(gnss_msg)
self.gps_week = week
if len(new_meas) == 0:
return None
self.gps_week = week
t = gnss_mono_time * 1e-9
if week > 0:
self.got_first_gnss_msg = True
@ -160,44 +188,38 @@ class Laikad:
if self.auto_fetch_orbits:
self.fetch_orbits(latest_msg_t, block)
# Filter measurements with unexpected pseudoranges for GPS and GLONASS satellites
new_meas = [m for m in new_meas if 1e7 < m.observables['C1C'] < 3e7]
processed_measurements = process_measurements(new_meas, self.astro_dog)
est_pos = self.get_est_pos(t, processed_measurements)
corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog) if len(est_pos) > 0 else []
if gnss_mono_time % 10 == 0:
cloudlog.debug(f"Measurements Incoming/Processed/Corrected: {len(new_meas), len(processed_measurements), len(corrected_measurements)}")
self.update_localizer(est_pos, t, corrected_measurements)
kf_valid = all(self.kf_valid(t))
ecef_pos = self.gnss_kf.x[GStates.ECEF_POS]
ecef_vel = self.gnss_kf.x[GStates.ECEF_VELOCITY]
p = self.gnss_kf.P.diagonal()
pos_std = np.sqrt(p[GStates.ECEF_POS])
vel_std = np.sqrt(p[GStates.ECEF_VELOCITY])
output = self.process_report(new_meas, t)
if output is None:
return None
position_estimate, position_std, velocity_estimate, velocity_std, corrected_measurements, _ = output
self.update_localizer(position_estimate, t, corrected_measurements)
meas_msgs = [create_measurement_msg(m) for m in corrected_measurements]
dat = messaging.new_message("gnssMeasurements")
msg = messaging.new_message("gnssMeasurements")
measurement_msg = log.LiveLocationKalman.Measurement.new_message
dat.gnssMeasurements = {
P_diag = self.gnss_kf.P.diagonal()
kf_valid = all(self.kf_valid(t))
msg.gnssMeasurements = {
"gpsWeek": week,
"gpsTimeOfWeek": tow,
"positionECEF": measurement_msg(value=ecef_pos.tolist(), std=pos_std.tolist(), valid=kf_valid),
"velocityECEF": measurement_msg(value=ecef_vel.tolist(), std=vel_std.tolist(), valid=kf_valid),
# TODO std is incorrectly the dimension of the measurements and not 3D
"positionFixECEF": measurement_msg(value=self.last_pos_fix, std=self.last_pos_residual, valid=self.last_pos_fix_t == t),
"ubloxMonoTime": gnss_mono_time,
"kalmanPositionECEF": measurement_msg(value=self.gnss_kf.x[GStates.ECEF_POS].tolist(),
std=np.sqrt(P_diag[GStates.ECEF_POS]).tolist(),
valid=kf_valid),
"kalmanVelocityECEF": measurement_msg(value=self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist(),
std=np.sqrt(P_diag[GStates.ECEF_VELOCITY]).tolist(),
valid=kf_valid),
"positionECEF": measurement_msg(value=position_estimate, std=position_std.tolist(), valid=bool(self.last_fix_t == t)),
"velocityECEF": measurement_msg(value=velocity_estimate, std=velocity_std.tolist(), valid=bool(self.last_fix_t == t)),
"measTime": gnss_mono_time,
"correctedMeasurements": meas_msgs
}
return dat
elif self.is_ephemeris(gnss_msg):
self.read_ephemeris(gnss_msg)
return msg
#elif gnss_msg.which() == 'ionoData':
# todo add this. Needed to better correct messages offline. First fix ublox_msg.cc to sent them.
# TODO: add this, Needed to better correct messages offline. First fix ublox_msg.cc to sent them.
def update_localizer(self, est_pos, t: float, measurements: List[GNSSMeasurement]):
# Check time and outputs are valid
@ -349,9 +371,23 @@ class EphemerisSourceType(IntEnum):
qcom = 3
def main(sm=None, pm=None):
def process_msg(laikad, gnss_msg, mono_time, block=False):
# TODO: Understand and use remaining unknown constellations
if gnss_msg.which() == "drMeasurementReport":
if getattr(gnss_msg, gnss_msg.which()).source not in ['glonass', 'gps', 'beidou', 'sbas']:
return None
if getattr(gnss_msg, gnss_msg.which()).gpsWeek > np.iinfo(np.int16).max:
# gpsWeek 65535 is received rarely from quectel, this cannot be
# passed to GnssMeasurements's gpsWeek (Int16)
return None
return laikad.process_gnss_msg(gnss_msg, mono_time, block=block)
def main(sm=None, pm=None, qc=None):
use_qcom = not Params().get_bool("UbloxAvailable", block=True)
if use_qcom:
if use_qcom or (qc is not None and qc):
raw_gnss_socket = "qcomGnss"
else:
raw_gnss_socket = "ubloxGnss"
@ -371,19 +407,13 @@ def main(sm=None, pm=None):
if sm.updated[raw_gnss_socket]:
gnss_msg = sm[raw_gnss_socket]
# TODO: Understand and use remaining unknown constellations
if gnss_msg.which() == "drMeasurementReport":
if getattr(gnss_msg, gnss_msg.which()).source not in ['glonass', 'gps', 'beidou', 'sbas']:
continue
msg = process_msg(laikad, gnss_msg, sm.logMonoTime[raw_gnss_socket], replay)
if msg is None:
msg = messaging.new_message("gnssMeasurements")
msg.valid = False
if getattr(gnss_msg, gnss_msg.which()).gpsWeek > np.iinfo(np.int16).max:
# gpsWeek 65535 is received rarely from quectel, this cannot be
# passed to GnssMeasurements's gpsWeek (Int16)
continue
msg = laikad.process_gnss_msg(gnss_msg, sm.logMonoTime[raw_gnss_socket], block=replay)
if msg is not None:
pm.send('gnssMeasurements', msg)
if not laikad.got_first_gnss_msg and sm.updated['clocks']:
clocks_msg = sm['clocks']
t = GPSTime.from_datetime(datetime.utcfromtimestamp(clocks_msg.wallTimeNanos * 1E-9))

89
selfdrive/locationd/laikad_helpers.py
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@ -1,89 +0,0 @@
import numpy as np
import sympy
from laika.constants import EARTH_ROTATION_RATE, SPEED_OF_LIGHT
from laika.helpers import ConstellationId
def calc_pos_fix_gauss_newton(measurements, posfix_functions, x0=None, signal='C1C', min_measurements=6):
'''
Calculates gps fix using gauss newton method
To solve the problem a minimal of 4 measurements are required.
If Glonass is included 5 are required to solve for the additional free variable.
returns:
0 -> list with positions
'''
if x0 is None:
x0 = [0, 0, 0, 0, 0]
n = len(measurements)
if n < min_measurements:
return [], []
Fx_pos = pr_residual(measurements, posfix_functions, signal=signal)
x = gauss_newton(Fx_pos, x0)
residual, _ = Fx_pos(x, weight=1.0)
return x.tolist(), residual.tolist()
def pr_residual(measurements, posfix_functions, signal='C1C'):
def Fx_pos(inp, weight=None):
vals, gradients = [], []
for meas in measurements:
pr = meas.observables[signal]
pr += meas.sat_clock_err * SPEED_OF_LIGHT
w = (1 / meas.observables_std[signal]) if weight is None else weight
val, *gradient = posfix_functions[meas.constellation_id](*inp, pr, *meas.sat_pos, w)
vals.append(val)
gradients.append(gradient)
return np.asarray(vals), np.asarray(gradients)
return Fx_pos
def gauss_newton(fun, b, xtol=1e-8, max_n=25):
for _ in range(max_n):
# Compute function and jacobian on current estimate
r, J = fun(b)
# Update estimate
delta = np.linalg.pinv(J) @ r
b -= delta
# Check step size for stopping condition
if np.linalg.norm(delta) < xtol:
break
return b
def get_posfix_sympy_fun(constellation):
# Unknowns
x, y, z = sympy.Symbol('x'), sympy.Symbol('y'), sympy.Symbol('z')
bc = sympy.Symbol('bc')
bg = sympy.Symbol('bg')
var = [x, y, z, bc, bg]
# Knowns
pr = sympy.Symbol('pr')
sat_x, sat_y, sat_z = sympy.Symbol('sat_x'), sympy.Symbol('sat_y'), sympy.Symbol('sat_z')
weight = sympy.Symbol('weight')
theta = EARTH_ROTATION_RATE * (pr - bc) / SPEED_OF_LIGHT
val = sympy.sqrt(
(sat_x * sympy.cos(theta) + sat_y * sympy.sin(theta) - x) ** 2 +
(sat_y * sympy.cos(theta) - sat_x * sympy.sin(theta) - y) ** 2 +
(sat_z - z) ** 2
)
if constellation == ConstellationId.GLONASS:
res = weight * (val - (pr - bc - bg))
elif constellation == ConstellationId.GPS:
res = weight * (val - (pr - bc))
else:
raise NotImplementedError(f"Constellation {constellation} not supported")
res = [res] + [sympy.diff(res, v) for v in var]
return sympy.lambdify([x, y, z, bc, bg, pr, sat_x, sat_y, sat_z, weight], res, modules=["numpy"])

92
selfdrive/locationd/locationd.cc
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@ -25,8 +25,15 @@ const double MAX_FILTER_REWIND_TIME = 0.8; // s
// TODO: GPS sensor time offsets are empirically calculated
// They should be replaced with synced time from a real clock
const double GPS_LOCATION_SENSOR_TIME_OFFSET = 0.630; // s
const double GPS_LOCATION_EXTERNAL_SENSOR_TIME_OFFSET = 0.095; // s
const double GPS_QUECTEL_SENSOR_TIME_OFFSET = 0.630; // s
const double GPS_UBLOX_SENSOR_TIME_OFFSET = 0.095; // s
const float GPS_MUL_FACTOR = 10.0;
const float GPS_POS_STD_THRESHOLD = 50.0;
const float GPS_VEL_STD_THRESHOLD = 5.0;
const float GPS_POS_ERROR_RESET_THRESHOLD = 200.0;
const float GPS_POS_STD_RESET_THRESHOLD = 5.0;
const float GPS_VEL_STD_RESET_THRESHOLD = 0.5;
const float GPS_ORIENTATION_ERROR_RESET_THRESHOLD = 5.0;
static VectorXd floatlist2vector(const capnp::List<float, capnp::Kind::PRIMITIVE>::Reader& floatlist) {
VectorXd res(floatlist.size());
@ -316,8 +323,8 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R
VectorXd ecef_pos = this->converter->ned2ecef({ 0.0, 0.0, 0.0 }).to_vector();
VectorXd ecef_vel = this->converter->ned2ecef({ log.getVNED()[0], log.getVNED()[1], log.getVNED()[2] }).to_vector() - ecef_pos;
MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(10.0 * log.getAccuracy(),2) + std::pow(10.0 * log.getVerticalAccuracy(),2)).asDiagonal();
MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(log.getSpeedAccuracy() * 10.0, 2)).asDiagonal();
MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(GPS_MUL_FACTOR * log.getAccuracy(),2) + std::pow(GPS_MUL_FACTOR * log.getVerticalAccuracy(),2)).asDiagonal();
MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(GPS_MUL_FACTOR * log.getSpeedAccuracy(), 2)).asDiagonal();
this->unix_timestamp_millis = log.getUnixTimestampMillis();
double gps_est_error = (this->kf->get_x().segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START) - ecef_pos).norm();
@ -348,6 +355,77 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R
this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R });
}
void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log) {
this->gps_valid = log.getPositionECEF().getValid() && log.getVelocityECEF().getValid();
if (!this->gps_valid) {
this->determine_gps_mode(current_time);
return;
}
this->gps_mode = true;
double sensor_time = log.getMeasTime() * 1e-9;
if (ublox_available)
sensor_time -= GPS_UBLOX_SENSOR_TIME_OFFSET;
else
sensor_time -= GPS_QUECTEL_SENSOR_TIME_OFFSET;
auto ecef_pos_v = log.getPositionECEF().getValue();
VectorXd ecef_pos = Vector3d(ecef_pos_v[0], ecef_pos_v[1], ecef_pos_v[2]);
// indexed at 0 cause all std values are the same MAE
auto ecef_pos_std = log.getPositionECEF().getStd()[0];
MatrixXdr ecef_pos_R = Vector3d::Constant(pow(GPS_MUL_FACTOR*ecef_pos_std, 2)).asDiagonal();
auto ecef_vel_v = log.getVelocityECEF().getValue();
VectorXd ecef_vel = Vector3d(ecef_vel_v[0], ecef_vel_v[1], ecef_vel_v[2]);
// indexed at 0 cause all std values are the same MAE
auto ecef_vel_std = log.getVelocityECEF().getStd()[0];
MatrixXdr ecef_vel_R = Vector3d::Constant(pow(GPS_MUL_FACTOR*ecef_vel_std, 2)).asDiagonal();
double gps_est_error = (this->kf->get_x().segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START) - ecef_pos).norm();
VectorXd orientation_ecef = quat2euler(vector2quat(this->kf->get_x().segment<STATE_ECEF_ORIENTATION_LEN>(STATE_ECEF_ORIENTATION_START)));
VectorXd orientation_ned = ned_euler_from_ecef({ ecef_pos[0], ecef_pos[1], ecef_pos[2] }, orientation_ecef);
LocalCoord convs((ECEF){ .x = ecef_pos[0], .y = ecef_pos[1], .z = ecef_pos[2] });
ECEF next_ecef = {.x = ecef_pos[0] + ecef_vel[0], .y = ecef_pos[1] + ecef_vel[1], .z = ecef_pos[2] + ecef_vel[2]};
VectorXd ned_vel = convs.ecef2ned(next_ecef).to_vector();
double bearing_rad = atan2(ned_vel[1], ned_vel[0]);
VectorXd orientation_ned_gps = Vector3d(0.0, 0.0, bearing_rad);
VectorXd orientation_error = (orientation_ned - orientation_ned_gps).array() - M_PI;
for (int i = 0; i < orientation_error.size(); i++) {
orientation_error(i) = std::fmod(orientation_error(i), 2.0 * M_PI);
if (orientation_error(i) < 0.0) {
orientation_error(i) += 2.0 * M_PI;
}
orientation_error(i) -= M_PI;
}
VectorXd initial_pose_ecef_quat = quat2vector(euler2quat(ecef_euler_from_ned({ ecef_pos(0), ecef_pos(1), ecef_pos(2) }, orientation_ned_gps)));
if (ecef_pos_std > GPS_POS_STD_THRESHOLD || ecef_vel_std > GPS_VEL_STD_THRESHOLD) {
this->gps_valid = false;
this->determine_gps_mode(current_time);
return;
}
if ((gps_est_error > GPS_POS_ERROR_RESET_THRESHOLD && ecef_pos_std < GPS_POS_STD_RESET_THRESHOLD) || this->last_gps_msg == 0) {
// always reset on first gps message and if the location is off but the accuracy is high
LOGE("Locationd vs gnssMeasurement position difference too large, kalman reset");
this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R);
} else if (ecef_vel_std < GPS_VEL_STD_RESET_THRESHOLD && orientation_error.norm() > GPS_ORIENTATION_ERROR_RESET_THRESHOLD) {
LOGE("Locationd vs gnssMeasurement orientation difference too large, kalman reset");
this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R);
this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_ORIENTATION_FROM_GPS, { initial_pose_ecef_quat });
}
this->last_gps_msg = current_time;
this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R });
this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R });
}
void Localizer::handle_car_state(double current_time, const cereal::CarState::Reader& log) {
this->car_speed = std::abs(log.getVEgo());
if (log.getStandstill()) {
@ -497,9 +575,11 @@ void Localizer::handle_msg(const cereal::Event::Reader& log) {
} else if (log.isGyroscope()) {
this->handle_sensor(t, log.getGyroscope());
} else if (log.isGpsLocation()) {
this->handle_gps(t, log.getGpsLocation(), GPS_LOCATION_SENSOR_TIME_OFFSET);
this->handle_gps(t, log.getGpsLocation(), GPS_QUECTEL_SENSOR_TIME_OFFSET);
} else if (log.isGpsLocationExternal()) {
this->handle_gps(t, log.getGpsLocationExternal(), GPS_LOCATION_EXTERNAL_SENSOR_TIME_OFFSET);
this->handle_gps(t, log.getGpsLocationExternal(), GPS_UBLOX_SENSOR_TIME_OFFSET);
//} else if (log.isGnssMeasurements()) {
// this->handle_gnss(t, log.getGnssMeasurements());
} else if (log.isCarState()) {
this->handle_car_state(t, log.getCarState());
} else if (log.isCameraOdometry()) {

2
selfdrive/locationd/locationd.h
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@ -52,6 +52,7 @@ public:
void handle_msg(const cereal::Event::Reader& log);
void handle_sensor(double current_time, const cereal::SensorEventData::Reader& log);
void handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset);
void handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log);
void handle_car_state(double current_time, const cereal::CarState::Reader& log);
void handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log);
void handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log);
@ -77,6 +78,7 @@ private:
bool device_fell = false;
bool gps_mode = false;
bool gps_valid = false;
double last_gps_msg = 0;
bool ublox_available = true;
bool observation_timings_invalid = false;
std::map<std::string, double> observation_values_invalid;

7
selfdrive/locationd/test/test_ublox_processing.py
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@ -4,7 +4,8 @@ import numpy as np
from laika import AstroDog
from laika.helpers import ConstellationId
from laika.raw_gnss import calc_pos_fix, correct_measurements, process_measurements, read_raw_ublox
from laika.raw_gnss import correct_measurements, process_measurements, read_raw_ublox
from laika.opt import calc_pos_fix
from selfdrive.test.openpilotci import get_url
from tools.lib.logreader import LogReader
@ -54,14 +55,14 @@ class TestUbloxProcessing(unittest.TestCase):
processed_meas = process_measurements(measurements, dog)
count_processed_measurements += len(processed_meas)
pos_fix = calc_pos_fix(processed_meas)
if len(pos_fix) > 0 and all(pos_fix[0] != 0):
if len(pos_fix) > 0 and all(p != 0 for p in pos_fix[0]):
position_fix_found += 1
corrected_meas = correct_measurements(processed_meas, pos_fix[0][:3], dog)
count_corrected_measurements += len(corrected_meas)
pos_fix = calc_pos_fix(corrected_meas)
if len(pos_fix) > 0 and all(pos_fix[0] != 0):
if len(pos_fix) > 0 and all(p != 0 for p in pos_fix[0]):
pos_ests.append(pos_fix[0])
position_fix_found_after_correcting += 1

25
selfdrive/test/process_replay/process_replay.py
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@ -251,8 +251,10 @@ def ublox_rcv_callback(msg):
def laika_rcv_callback(msg, CP, cfg, fsm):
if msg.which() == 'ubloxGnss' and msg.ubloxGnss.which() == "measurementReport":
return ["gnssMeasurements"], True
elif msg.which() == 'qcomGnss' and msg.qcomGnss.which() == "drMeasurementReport":
return ["gnssMeasurements"], True
else:
return [], True
return [], False
CONFIGS = [
@ -360,24 +362,11 @@ CONFIGS = [
tolerance=None,
fake_pubsubmaster=False,
),
ProcessConfig(
proc_name="laikad",
subtest_name="Offline",
pub_sub={
"ubloxGnss": ["gnssMeasurements"],
"clocks": []
},
ignore=["logMonoTime"],
init_callback=get_car_params,
should_recv_callback=laika_rcv_callback,
tolerance=NUMPY_TOLERANCE,
fake_pubsubmaster=True,
environ={"LAIKAD_NO_INTERNET": "1"},
),
ProcessConfig(
proc_name="laikad",
pub_sub={
"ubloxGnss": ["gnssMeasurements"],
"qcomGnss": ["gnssMeasurements"],
"clocks": []
},
ignore=["logMonoTime"],
@ -474,6 +463,12 @@ def python_replay_process(cfg, lr, fingerprint=None):
all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())]
# laikad needs decision between submaster ubloxGnss and qcomGnss, prio given to ubloxGnss
if cfg.proc_name == "laikad":
args = (*args, not any(m.which() == "ubloxGnss" for m in pub_msgs))
service = "qcomGnss" if args[2] else "ubloxGnss"
pub_msgs = [m for m in pub_msgs if m.which() == service or m.which() == 'clocks']
controlsState = None
initialized = False
for msg in lr:

2
selfdrive/test/process_replay/ref_commit
Unescape View File

@ -1 +1 @@
05ba201bcf97b6c1067dbcde2a60f71f43469c56
557ffbf5a1c9cafba1ff8d6f3e2642df98b2d6e6
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