pass cloudlog to EKF_sym

rednose_repo

@@ -1 +1 @@
-Subproject commit 2f054316cb6498b0faf81029198f6345405faab3
+Subproject commit 946a0345740abe46241b2168262c01d7239d642e

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__":

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):