Auto reset bad calibration (#2151)

* initial commit

* thanks pylint

* smoooooth

* cleanup

* cleaner

* switched

* always decay weight
old-commit-hash: df99316621

selfdrive/locationd/calibrationd.py

@@ -22,22 +22,26 @@ MIN_SPEED_FILTER = 15 * CV.MPH_TO_MS
 MAX_VEL_ANGLE_STD = np.radians(0.25)
 MAX_YAW_RATE_FILTER = np.radians(2)  # per second
 
-# This is all 20Hz, blocks needed for efficiency
+# This is at model frequency, blocks needed for efficiency
+SMOOTH_CYCLES = 400
 BLOCK_SIZE = 100
 INPUTS_NEEDED = 5   # Minimum blocks needed for valid calibration
 INPUTS_WANTED = 50   # We want a little bit more than we need for stability
-RPY_INIT = np.array([0,0,0])
+MAX_ALLOWED_SPREAD = np.radians(2)
+RPY_INIT = np.array([0.0,0.0,0.0])
 
 # These values are needed to accomodate biggest modelframe
 PITCH_LIMITS = np.array([-0.09074112085129739, 0.14907572052989657])
 YAW_LIMITS = np.array([-0.06912048084718224, 0.06912048084718235])
 DEBUG = os.getenv("DEBUG") is not None
 
+
 class Calibration:
   UNCALIBRATED = 0
   CALIBRATED = 1
   INVALID = 2
 
+
 def is_calibration_valid(rpy):
   return (PITCH_LIMITS[0] < rpy[1] < PITCH_LIMITS[1]) and (YAW_LIMITS[0] < rpy[2] < YAW_LIMITS[1])
 
@@ -53,43 +57,84 @@ def sanity_clip(rpy):
 class Calibrator():
   def __init__(self, param_put=False):
     self.param_put = param_put
-    self.rpy = copy.copy(RPY_INIT)
-    self.rpys = np.zeros((INPUTS_WANTED, 3))
-    self.idx = 0
-    self.block_idx = 0
-    self.valid_blocks = 0
-    self.cal_status = Calibration.UNCALIBRATED
-    self.just_calibrated = False
-    self.v_ego = 0
 
     # Read saved calibration
     calibration_params = Params().get("CalibrationParams")
+
+    rpy_init = RPY_INIT
+    valid_blocks = 0
+
     if param_put and calibration_params:
       try:
         calibration_params = json.loads(calibration_params)
-        self.rpy = calibration_params["calib_radians"]
+        rpy_init = calibration_params["calib_radians"]
-        if not np.isfinite(self.rpy).all():
+        valid_blocks = calibration_params['valid_blocks']
-          self.rpy = copy.copy(RPY_INIT)
-        self.rpys = np.tile(self.rpy, (INPUTS_WANTED, 1))
-        self.valid_blocks = calibration_params['valid_blocks']
-        if not np.isfinite(self.valid_blocks) or self.valid_blocks < 0:
-          self.valid_blocks = 0
-        self.update_status()
       except Exception:
         cloudlog.exception("CalibrationParams file found but error encountered")
+    self.reset(rpy_init, valid_blocks)
+    self.update_status()
+
+  def reset(self, rpy_init=RPY_INIT, valid_blocks=0, smooth_from=None):
+    if not np.isfinite(rpy_init).all():
+        self.rpy = copy.copy(RPY_INIT)
+    else:
+      self.rpy = rpy_init
+    if not np.isfinite(valid_blocks) or valid_blocks < 0:
+        self.valid_blocks = 0
+    else:
+      self.valid_blocks = valid_blocks
+    self.rpys = np.tile(self.rpy, (INPUTS_WANTED, 1))
+
+    self.idx = 0
+    self.block_idx = 0
+    self.v_ego = 0
+
+    if smooth_from is None:
+      self.old_rpy = RPY_INIT
+      self.old_rpy_weight = 0.0
+    else:
+      self.old_rpy = smooth_from
+      self.old_rpy_weight = 1.0
 
   def update_status(self):
-    start_status = self.cal_status
+    if self.valid_blocks > 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)
+
     if self.valid_blocks < INPUTS_NEEDED:
       self.cal_status = Calibration.UNCALIBRATED
+    elif is_calibration_valid(self.rpy):
+      self.cal_status = Calibration.CALIBRATED
     else:
-      self.cal_status = Calibration.CALIBRATED if is_calibration_valid(self.rpy) else Calibration.INVALID
+      self.cal_status = Calibration.INVALID
-    self.just_calibrated = start_status == Calibration.UNCALIBRATED and self.cal_status != Calibration.UNCALIBRATED
+
+    # If spread is too high, assume mounting was changed and reset to last block.
+    # Make the transition smooth. Abrupt transistion are not good foor feedback loop through supercombo model.
+    if max(self.calib_spread) > MAX_ALLOWED_SPREAD:
+      self.reset(self.rpys[self.block_idx - 1], valid_blocks=INPUTS_NEEDED, smooth_from=self.rpy)
+
+    write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5)
+    if self.param_put and write_this_cycle:
+      # TODO: this should use the liveCalibration struct from cereal
+      cal_params = {"calib_radians": list(self.rpy),
+                    "valid_blocks": int(self.valid_blocks)}
+      put_nonblocking("CalibrationParams", json.dumps(cal_params).encode('utf8'))
 
   def handle_v_ego(self, v_ego):
     self.v_ego = v_ego
 
+  def get_smooth_rpy(self):
+    if self.old_rpy_weight > 0:
+      return self.old_rpy_weight * self.old_rpy + (1.0 - self.old_rpy_weight) * self.rpy
+    else:
+      return self.rpy
+
   def handle_cam_odom(self, trans, rot, trans_std, rot_std):
+    self.old_rpy_weight = min(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES)
+
     straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER))
     certain_if_calib = ((np.arctan2(trans_std[1], trans[0]) < MAX_VEL_ANGLE_STD) or
                         (self.valid_blocks < INPUTS_NEEDED))
@@ -97,7 +142,7 @@ class Calibrator():
       observed_rpy = np.array([0,
                                -np.arctan2(trans[2], trans[0]),
                                np.arctan2(trans[1], trans[0])])
-      new_rpy = euler_from_rot(rot_from_euler(self.rpy).dot(rot_from_euler(observed_rpy)))
+      new_rpy = euler_from_rot(rot_from_euler(self.get_smooth_rpy()).dot(rot_from_euler(observed_rpy)))
       new_rpy = sanity_clip(new_rpy)
 
       self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] + (BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE)
@@ -108,33 +153,25 @@ class Calibrator():
         self.block_idx = self.block_idx % INPUTS_WANTED
       if self.valid_blocks > 0:
         self.rpy = np.mean(self.rpys[:self.valid_blocks], axis=0)
+
+
       self.update_status()
 
-      # TODO: this should use the liveCalibration struct from cereal
-      if self.param_put and ((self.idx == 0 and self.block_idx == 0) or self.just_calibrated):
-        cal_params = {"calib_radians": list(self.rpy),
-                      "valid_blocks": self.valid_blocks}
-        put_nonblocking("CalibrationParams", json.dumps(cal_params).encode('utf8'))
       return new_rpy
     else:
       return None
 
   def send_data(self, pm):
-    if self.valid_blocks > 0:
+    smooth_rpy = self.get_smooth_rpy()
-      max_rpy_calib = np.array(np.max(self.rpys[:self.valid_blocks], axis=0))
+    extrinsic_matrix = get_view_frame_from_road_frame(0, smooth_rpy[1], smooth_rpy[2], model_height)
-      min_rpy_calib = np.array(np.min(self.rpys[:self.valid_blocks], axis=0))
-      calib_spread = np.abs(max_rpy_calib - min_rpy_calib)
-    else:
-      calib_spread = np.zeros(3)
-    extrinsic_matrix = get_view_frame_from_road_frame(0, self.rpy[1], self.rpy[2], model_height)
 
     cal_send = messaging.new_message('liveCalibration')
     cal_send.liveCalibration.validBlocks = self.valid_blocks
     cal_send.liveCalibration.calStatus = self.cal_status
     cal_send.liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100)
     cal_send.liveCalibration.extrinsicMatrix = [float(x) for x in extrinsic_matrix.flatten()]
-    cal_send.liveCalibration.rpyCalib = [float(x) for x in self.rpy]
+    cal_send.liveCalibration.rpyCalib = [float(x) for x in smooth_rpy]
-    cal_send.liveCalibration.rpyCalibSpread = [float(x) for x in calib_spread]
+    cal_send.liveCalibration.rpyCalibSpread = [float(x) for x in self.calib_spread]
 
     pm.send('liveCalibration', cal_send)
 
@@ -166,6 +203,7 @@ def calibrationd_thread(sm=None, pm=None):
     if sm.frame % 5 == 0:
       calibrator.send_data(pm)
 
+
 def main(sm=None, pm=None):
   calibrationd_thread(sm, pm)