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Locationd: enable laikad (#29570)

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* experiment

* llk back

* update refs

* update ref

* no internet

* Update ref
old-commit-hash: 8205590624
beeps
Harald Schäfer 2 years ago committed by GitHub
parent c4f322ce2d
commit bc017ab936
6 changed files with 32 additions and 155 deletions
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  1. 2
      selfdrive/locationd/liblocationd.cc
  2. 129
      selfdrive/locationd/locationd.cc
  3. 13
      selfdrive/locationd/locationd.h
  4. 29
      selfdrive/locationd/test/test_locationd.py
  5. 12
      selfdrive/test/process_replay/process_replay.py
  6. 2
      selfdrive/test/process_replay/ref_commit

2
selfdrive/locationd/liblocationd.cc
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@ -4,7 +4,7 @@ extern "C" {
typedef Localizer* Localizer_t;
Localizer *localizer_init(bool has_ublox) {
return new Localizer(has_ublox ? LocalizerGnssSource::UBLOX : LocalizerGnssSource::QCOM);
return new Localizer();
}
void localizer_get_message_bytes(Localizer *localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid,

129
selfdrive/locationd/locationd.cc
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@ -15,7 +15,6 @@ const double ACCEL_SANITY_CHECK = 100.0; // m/s^2
const double ROTATION_SANITY_CHECK = 10.0; // rad/s
const double TRANS_SANITY_CHECK = 200.0; // m/s
const double CALIB_RPY_SANITY_CHECK = 0.5; // rad (+- 30 deg)
const double ALTITUDE_SANITY_CHECK = 10000; // m
const double MIN_STD_SANITY_CHECK = 1e-5; // m or rad
const double VALID_TIME_SINCE_RESET = 1.0; // s
const double VALID_POS_STD = 50.0; // m
@ -25,15 +24,11 @@ const double INPUT_INVALID_THRESHOLD = 5.0; // same as reset tracker
const double DECAY = 0.99995; // same as reset tracker
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_QUECTEL_SENSOR_TIME_OFFSET = 0.630; // s
const double GPS_UBLOX_SENSOR_TIME_OFFSET = 0.095; // s
const float GPS_POS_STD_THRESHOLD = 50.0;
const float GPS_VEL_STD_THRESHOLD = 5.0;
const float GPS_POS_ERROR_RESET_THRESHOLD = 300.0;
const float GPS_POS_STD_RESET_THRESHOLD = 2.0;
const float GPS_VEL_STD_RESET_THRESHOLD = 0.5;
const float GPS_POS_STD_RESET_THRESHOLD = 10.0;
const float GPS_VEL_STD_RESET_THRESHOLD = 1.0;
const float GPS_ORIENTATION_ERROR_RESET_THRESHOLD = 1.0;
const int GPS_ORIENTATION_ERROR_RESET_CNT = 3;
@ -72,7 +67,7 @@ static VectorXd rotate_std(const MatrixXdr& rot_matrix, const VectorXd& std_in)
return rotate_cov(rot_matrix, std_in.array().square().matrix().asDiagonal()).diagonal().array().sqrt();
}
Localizer::Localizer(LocalizerGnssSource gnss_source) {
Localizer::Localizer() {
this->kf = std::make_unique<LiveKalman>();
this->reset_kalman();
@ -86,7 +81,6 @@ Localizer::Localizer(LocalizerGnssSource gnss_source) {
VectorXd ecef_pos = this->kf->get_x().segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START);
this->converter = std::make_unique<LocalCoord>((ECEF) { .x = ecef_pos[0], .y = ecef_pos[1], .z = ecef_pos[2] });
this->configure_gnss_source(gnss_source);
}
void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) {
@ -299,64 +293,6 @@ void Localizer::input_fake_gps_observations(double current_time) {
this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R });
}
void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset) {
// ignore the message if the fix is invalid
bool gps_invalid_flag = (log.getFlags() % 2 == 0);
bool gps_unreasonable = (Vector2d(log.getAccuracy(), log.getVerticalAccuracy()).norm() >= SANE_GPS_UNCERTAINTY);
bool gps_accuracy_insane = ((log.getVerticalAccuracy() <= 0) || (log.getSpeedAccuracy() <= 0) || (log.getBearingAccuracyDeg() <= 0));
bool gps_lat_lng_alt_insane = ((std::abs(log.getLatitude()) > 90) || (std::abs(log.getLongitude()) > 180) || (std::abs(log.getAltitude()) > ALTITUDE_SANITY_CHECK));
bool gps_vel_insane = (floatlist2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK);
if (gps_invalid_flag || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane) {
//this->gps_valid = false;
this->determine_gps_mode(current_time);
return;
}
double sensor_time = current_time - sensor_time_offset;
// Process message
//this->gps_valid = true;
this->gps_mode = true;
Geodetic geodetic = { log.getLatitude(), log.getLongitude(), log.getAltitude() };
this->converter = std::make_unique<LocalCoord>(geodetic);
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;
float ecef_pos_std = std::sqrt(this->gps_variance_factor * std::pow(log.getAccuracy(), 2) + this->gps_vertical_variance_factor * std::pow(log.getVerticalAccuracy(), 2));
MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(this->gps_std_factor * ecef_pos_std, 2)).asDiagonal();
MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(this->gps_std_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();
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);
VectorXd orientation_ned_gps = Vector3d(0.0, 0.0, DEG2RAD(log.getBearingDeg()));
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_vel.norm() > 5.0 && orientation_error.norm() > 1.0) {
LOGE("Locationd vs ubloxLocation 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 });
} else if (gps_est_error > 100.0) {
LOGE("Locationd vs ubloxLocation position difference too large, kalman reset");
this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R);
}
this->last_gps_msg = sensor_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_gnss(double current_time, const cereal::GnssMeasurements::Reader& log) {
if (!log.getPositionECEF().getValid() || !log.getVelocityECEF().getValid()) {
@ -365,21 +301,22 @@ void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements:
}
double sensor_time = log.getMeasTime() * 1e-9;
sensor_time -= this->gps_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(this->gps_std_factor*ecef_pos_std, 2)).asDiagonal();
auto ecef_pos_std = log.getPositionECEF().getStd();
VectorXd ecef_pos_var = Vector3d(ecef_pos_std[0], ecef_pos_std[1], ecef_pos_std[2]).array().square().matrix();
double ecef_pos_std_norm = std::sqrt(ecef_pos_var.sum());
MatrixXdr ecef_pos_R = ecef_pos_var.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(this->gps_std_factor*ecef_vel_std, 2)).asDiagonal();
auto ecef_vel_std = log.getVelocityECEF().getStd();
VectorXd ecef_vel_var = Vector3d(ecef_vel_std[0], ecef_vel_std[1], ecef_vel_std[2]).array().square().matrix();
double ecef_vel_std_norm = std::sqrt(ecef_vel_var.sum());
MatrixXdr ecef_vel_R = ecef_vel_var.asDiagonal();
double gps_est_error = (this->kf->get_x().segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START) - ecef_pos).norm();
@ -402,13 +339,13 @@ void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements:
}
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) {
if (ecef_pos_std_norm > GPS_POS_STD_THRESHOLD || ecef_vel_std_norm > GPS_VEL_STD_THRESHOLD) {
this->determine_gps_mode(current_time);
return;
}
// prevent jumping gnss measurements (covered lots, standstill...)
bool orientation_reset = ecef_vel_std < GPS_VEL_STD_RESET_THRESHOLD;
bool orientation_reset = ecef_vel_std_norm < GPS_VEL_STD_RESET_THRESHOLD;
orientation_reset &= orientation_error.norm() > GPS_ORIENTATION_ERROR_RESET_THRESHOLD;
orientation_reset &= !this->standstill;
if (orientation_reset) {
@ -417,7 +354,7 @@ void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements:
this->orientation_reset_count = 0;
}
if ((gps_est_error > GPS_POS_ERROR_RESET_THRESHOLD && ecef_pos_std < GPS_POS_STD_RESET_THRESHOLD) || this->last_gps_msg == 0) {
if ((gps_est_error > GPS_POS_ERROR_RESET_THRESHOLD && ecef_pos_std_norm < 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);
@ -587,12 +524,8 @@ void Localizer::handle_msg(const cereal::Event::Reader& log) {
this->handle_sensor(t, log.getAccelerometer());
} else if (log.isGyroscope()) {
this->handle_sensor(t, log.getGyroscope());
} else if (log.isGpsLocation()) {
this->handle_gps(t, log.getGpsLocation(), GPS_QUECTEL_SENSOR_TIME_OFFSET);
} else if (log.isGpsLocationExternal()) {
this->handle_gps(t, log.getGpsLocationExternal(), GPS_UBLOX_SENSOR_TIME_OFFSET);
//} else if (log.isGnssMeasurements()) {
// this->handle_gnss(t, log.getGnssMeasurements());
} 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()) {
@ -653,38 +586,12 @@ void Localizer::determine_gps_mode(double current_time) {
}
}
void Localizer::configure_gnss_source(const LocalizerGnssSource &source) {
this->gnss_source = source;
if (source == LocalizerGnssSource::UBLOX) {
this->gps_std_factor = 10.0;
this->gps_variance_factor = 1.0;
this->gps_vertical_variance_factor = 1.0;
this->gps_time_offset = GPS_UBLOX_SENSOR_TIME_OFFSET;
} else {
this->gps_std_factor = 2.0;
this->gps_variance_factor = 0.0;
this->gps_vertical_variance_factor = 3.0;
this->gps_time_offset = GPS_QUECTEL_SENSOR_TIME_OFFSET;
}
}
int Localizer::locationd_thread() {
LocalizerGnssSource source;
const char* gps_location_socket;
if (Params().getBool("UbloxAvailable")) {
source = LocalizerGnssSource::UBLOX;
gps_location_socket = "gpsLocationExternal";
} else {
source = LocalizerGnssSource::QCOM;
gps_location_socket = "gpsLocation";
}
this->configure_gnss_source(source);
const std::initializer_list<const char *> service_list = {gps_location_socket, "cameraOdometry", "liveCalibration",
const std::initializer_list<const char *> service_list = {"gnssMeasurements", "cameraOdometry", "liveCalibration",
"carState", "carParams", "accelerometer", "gyroscope"};
// TODO: remove carParams once we're always sending at 100Hz
SubMaster sm(service_list, {}, nullptr, {gps_location_socket, "carParams"});
SubMaster sm(service_list, {}, nullptr, {"gnssMeasurements", "carParams"});
PubMaster pm({"liveLocationKalman"});
uint64_t cnt = 0;

13
selfdrive/locationd/locationd.h
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@ -22,13 +22,10 @@
#define POSENET_STD_HIST_HALF 20
enum LocalizerGnssSource {
UBLOX, QCOM
};
class Localizer {
public:
Localizer(LocalizerGnssSource gnss_source = LocalizerGnssSource::UBLOX);
Localizer();
int locationd_thread();
@ -56,7 +53,6 @@ public:
void handle_msg_bytes(const char *data, const size_t size);
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);
@ -85,15 +81,8 @@ private:
double first_valid_log_time = NAN;
double ttff = NAN;
double last_gps_msg = 0;
LocalizerGnssSource gnss_source;
bool observation_timings_invalid = false;
std::map<std::string, double> observation_values_invalid;
bool standstill = true;
int32_t orientation_reset_count = 0;
float gps_std_factor;
float gps_variance_factor;
float gps_vertical_variance_factor;
double gps_time_offset;
void configure_gnss_source(const LocalizerGnssSource &source);
};

29
selfdrive/locationd/test/test_locationd.py
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@ -14,7 +14,7 @@ from openpilot.selfdrive.manager.process_config import managed_processes
class TestLocationdProc(unittest.TestCase):
LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration',
LLD_MSGS = ['gnssMeasurements', 'cameraOdometry', 'carState', 'liveCalibration',
'accelerometer', 'gyroscope', 'magnetometer']
def setUp(self):
@ -35,25 +35,14 @@ class TestLocationdProc(unittest.TestCase):
msg = messaging.new_message(name)
except capnp.lib.capnp.KjException:
msg = messaging.new_message(name, 0)
if name == "gpsLocationExternal":
msg.gpsLocationExternal.flags = 1
msg.gpsLocationExternal.verticalAccuracy = 1.0
msg.gpsLocationExternal.speedAccuracy = 1.0
msg.gpsLocationExternal.bearingAccuracyDeg = 1.0
msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0]
msg.gpsLocationExternal.latitude = float(self.lat)
msg.gpsLocationExternal.longitude = float(self.lon)
msg.gpsLocationExternal.unixTimestampMillis = t * 1e6
msg.gpsLocationExternal.altitude = float(self.alt)
#if name == "gnssMeasurements":
# msg.gnssMeasurements.measTime = t
# msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z]
# msg.gnssMeasurements.positionECEF.std = [0,0,0]
# msg.gnssMeasurements.positionECEF.valid = True
# msg.gnssMeasurements.velocityECEF.value = []
# msg.gnssMeasurements.velocityECEF.std = [0,0,0]
# msg.gnssMeasurements.velocityECEF.valid = True
if name == "gnssMeasurements":
msg.gnssMeasurements.measTime = t
msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z]
msg.gnssMeasurements.positionECEF.std = [0,0,0]
msg.gnssMeasurements.positionECEF.valid = True
msg.gnssMeasurements.velocityECEF.value = []
msg.gnssMeasurements.velocityECEF.std = [0,0,0]
msg.gnssMeasurements.velocityECEF.valid = True
elif name == 'cameraOdometry':
msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
msg.cameraOdometry.rotStd = [0.0, 0.0, 0.0]

12
selfdrive/test/process_replay/process_replay.py
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@ -433,13 +433,6 @@ def laikad_config_pubsub_callback(params, cfg, lr):
cfg.main_pub_drained = True
def locationd_config_pubsub_callback(params, cfg, lr):
ublox = params.get_bool("UbloxAvailable")
sub_keys = ({"gpsLocation", } if ublox else {"gpsLocationExternal", })
cfg.pubs = set(cfg.pubs) - sub_keys
CONFIGS = [
ProcessConfig(
proc_name="controlsd",
@ -494,12 +487,11 @@ CONFIGS = [
ProcessConfig(
proc_name="locationd",
pubs=[
"cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal",
"liveCalibration", "carState", "carParams", "gpsLocation"
"cameraOdometry", "accelerometer", "gyroscope", "gnssMeasurements",
"liveCalibration", "carState", "carParams"
],
subs=["liveLocationKalman"],
ignore=["logMonoTime", "valid"],
config_callback=locationd_config_pubsub_callback,
tolerance=NUMPY_TOLERANCE,
),
ProcessConfig(

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
4846f6f416128ba74837829643aa3fe0897c5621
9d6369c5aa88c37499c330a06aa7a81a5f4f3283
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