From d9c1561d3722c067b0dec5e4c63d09b00399a133 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 15 Mar 2021 13:27:12 +0100 Subject: [PATCH] pass cloudlog to EKF_sym --- rednose_repo | 2 +- selfdrive/locationd/models/car_kf.py | 3 ++- selfdrive/locationd/models/live_kf.py | 3 ++- 3 files changed, 5 insertions(+), 3 deletions(-) diff --git a/rednose_repo b/rednose_repo index 2f054316cb..946a034574 160000 --- a/rednose_repo +++ b/rednose_repo @@ -1 +1 @@ -Subproject commit 2f054316cb6498b0faf81029198f6345405faab3 +Subproject commit 946a0345740abe46241b2168262c01d7239d642e diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py index ee409ecebc..6c5357f2dd 100755 --- a/selfdrive/locationd/models/car_kf.py +++ b/selfdrive/locationd/models/car_kf.py @@ -9,6 +9,7 @@ import sympy as sp from rednose import KalmanFilter from rednose.helpers.ekf_sym import EKF_sym, gen_code from selfdrive.locationd.models.constants import ObservationKind +from selfdrive.swaglog import cloudlog i = 0 @@ -148,7 +149,7 @@ class CarKalman(KalmanFilter): x_init[States.ANGLE_OFFSET] = angle_offset # init filter - self.filter = EKF_sym(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, dim_state, dim_state_err, global_vars=self.global_vars) + self.filter = EKF_sym(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog) if __name__ == "__main__": diff --git a/selfdrive/locationd/models/live_kf.py b/selfdrive/locationd/models/live_kf.py index 8c9cb7a37c..62c348272b 100755 --- a/selfdrive/locationd/models/live_kf.py +++ b/selfdrive/locationd/models/live_kf.py @@ -5,6 +5,7 @@ import sys import numpy as np import sympy as sp +from selfdrive.swaglog import cloudlog from selfdrive.locationd.models.constants import ObservationKind from rednose.helpers.ekf_sym import EKF_sym, gen_code from rednose.helpers.sympy_helpers import euler_rotate, quat_matrix_r, quat_rotate @@ -206,7 +207,7 @@ class LiveKalman(): ObservationKind.ECEF_ORIENTATION_FROM_GPS: np.diag([.2**2, .2**2, .2**2, .2**2])} # init filter - self.filter = EKF_sym(generated_dir, self.name, self.Q, self.initial_x, np.diag(self.initial_P_diag), self.dim_state, self.dim_state_err, max_rewind_age=0.2) + self.filter = EKF_sym(generated_dir, self.name, self.Q, self.initial_x, np.diag(self.initial_P_diag), self.dim_state, self.dim_state_err, max_rewind_age=0.2, logger=cloudlog) @property def x(self):