laikad: reduce min satellite number (#27440)

* bump laika

* update laikad tests

* update refs

* bump laika

* update refs

---------

Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com>

laika_repo

@@ -1 +1 @@
-Subproject commit 278b44ba8c2dec28adc5b30cce13dabc195f15fc
+Subproject commit b740b71c82a748e3520b1599487d9a7aaf728670

selfdrive/locationd/laikad.py

@@ -97,19 +97,25 @@ 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 = 7 if any(p.constellation_id == ConstellationId.GLONASS for p in measurements) else 6
-      position_solution, pr_residuals = calc_pos_fix(measurements, self.posfix_functions, min_measurements=min_measurements)
+      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]
-      #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)
+
+      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)
+
+      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 = np.median(np.abs(prr_residuals)) * np.ones(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)
+
       return position_estimate, position_std, velocity_estimate, velocity_std
 
   def is_good_report(self, gnss_msg):

selfdrive/locationd/test/test_laikad.py

@@ -160,7 +160,7 @@ class TestLaikad(unittest.TestCase):
     laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT)
     correct_msgs = verify_messages(self.logs, laikad)
 
-    correct_msgs_expected = 554
+    correct_msgs_expected = 559
     self.assertEqual(correct_msgs_expected, len(correct_msgs))
     self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
 
@@ -180,7 +180,7 @@ class TestLaikad(unittest.TestCase):
     laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV)
     # Disable fetch_orbits to test NAV only
     correct_msgs = verify_messages(self.logs, laikad)
-    correct_msgs_expected = 554
+    correct_msgs_expected = 559
     self.assertEqual(correct_msgs_expected, len(correct_msgs))
     self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
 
@@ -195,8 +195,8 @@ class TestLaikad(unittest.TestCase):
     downloader_mock.side_effect = DownloadFailed
     laikad = Laikad(auto_update=False)
     correct_msgs = verify_messages(self.logs, laikad)
-    self.assertEqual(0, len(correct_msgs))
-    self.assertEqual(0, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
+    self.assertEqual(255, len(correct_msgs))
+    self.assertEqual(255, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
 
   def test_laika_get_orbits(self):
     laikad = Laikad(auto_update=False)
@@ -282,7 +282,7 @@ class TestLaikad(unittest.TestCase):
       gm = msg.gnssMeasurements
       if len(gm.correctedMeasurements) != 0 and gm.positionECEF.valid:
         cnt += 1
-    self.assertEqual(cnt, 554)
+    self.assertEqual(cnt, 559)
 
   def dict_has_values(self, dct):
     self.assertGreater(len(dct), 0)

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-772f30de36fc7f8421dabb779cc02f45eb83d7bb
+dfa8e947c4ef76a9d89974a434e94a078e1ccc6a