Calibrationd: fix reset smoothing (#27992)

* Add test for smoothing

* fix smooth cycles

* fix calib reset smoothing

selfdrive/locationd/calibrationd.py

@@ -25,7 +25,7 @@ MAX_VEL_ANGLE_STD = np.radians(0.25)
 MAX_YAW_RATE_FILTER = np.radians(2)  # per second
 
 # This is at model frequency, blocks needed for efficiency
-SMOOTH_CYCLES = 400
+SMOOTH_CYCLES = 10
 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
@@ -162,7 +162,7 @@ class Calibrator:
                             rot: List[float],
                             wide_from_device_euler: List[float],
                             trans_std: List[float]) -> Optional[np.ndarray]:
-    self.old_rpy_weight = min(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES)
+    self.old_rpy_weight = max(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))
     angle_std_threshold = MAX_VEL_ANGLE_STD

selfdrive/locationd/test/test_calibrationd.py

@@ -6,7 +6,7 @@ import numpy as np
 
 import cereal.messaging as messaging
 from common.params import Params
-from selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, MAX_YAW_RATE_FILTER
+from selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, MAX_YAW_RATE_FILTER, SMOOTH_CYCLES
 
 
 class TestCalibrationd(unittest.TestCase):
@@ -86,7 +86,10 @@ class TestCalibrationd(unittest.TestCase):
                          [1e-3, 1e-3, 1e-3])
     self.assertEqual(c.valid_blocks, INPUTS_WANTED)
     np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0])
-    for _ in range(BLOCK_SIZE):
+    old_rpy_weight_prev = 0.0
+    for _ in range(BLOCK_SIZE + 10):
+      self.assertLess(old_rpy_weight_prev - c.old_rpy_weight, 1/SMOOTH_CYCLES + 1e-3)
+      old_rpy_weight_prev = c.old_rpy_weight
       c.handle_v_ego(MIN_SPEED_FILTER + 1)
       c.handle_cam_odom([MIN_SPEED_FILTER + 1, -0.05 * MIN_SPEED_FILTER, 0.0],
                          [0.0, 0.0, 0.0],