cf2767f3a2
.
3 years ago
a716eaa488
remove handle gps
3 years ago
981532f0c3
Laikad preperation ( #26800 )
...
* laikad update, renaming
* update locationd
* address PR comments
* draft to fix replay
* fix process relay to allow no response for messages
* bump cereal
* update process replay ref commit
* move laikad helpers to laika
* fix ublox test
* update refs
* add proper qcom replay support
* fix gnss support if both is available
* update refs
* move laika back to master
* move cereal back to master
Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com>
3 years ago
5fce637852
test orienation reset count
3 years ago
f8250cadef
fix stanstill KF resets
3 years ago
5a2adb9c9c
.
3 years ago
ff4a2e79ad
adopt orientation reset threshold
3 years ago
24003c1c02
remove gps_valid flag
3 years ago
d9d313d26d
add gnss to ignore
3 years ago
4628c66529
change time
3 years ago
5cc642640c
fix gps valid flag
3 years ago
dc2f23056c
init
3 years ago
716e8151b2
upsi
3 years ago
369cba0584
address PR comments
3 years ago
a0338246fa
fix naming
3 years ago
9f484bc9f9
update locationd
3 years ago
fbf2f3816b
[locationd] Add input checks ( #26460 )
...
* add input checks with same decay as reset_tracker
* add observation timings check
* typo
* bugfix
* improve offline locationd visibility
* sbugfix offline lld
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
3 years ago
aebb08e105
locationd: add gps sanity check for quectel gps ( #26352 )
...
* update check
* .
* .
* remove gps kf time check for gps ok
* upsi
* dont use gps_mode
* update refs
* Update selfdrive/locationd/locationd.cc
Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com>
Co-authored-by: Cameron Clough <cameronjclough@gmail.com>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
3 years ago
b332441803
locationd: Fix GPS sensor times with fixed offsets ( #25920 )
...
* Rewind to qcom time
* Fix test
* Typo
* init unix_time fix
* add gps sensor_time_offsets
* remove all clocks code and add todo
* :emove clocks in unit test
* update refs
* update refs
Co-authored-by: nuwandavek <vivekaithal44@gmail.com>
3 years ago
01d05f66fe
auto-detect pigeon or quectel ( #25991 )
...
* auto-detect pigeon or quectel
* persistent
* fix sim
* fix process replay
* fix locationd unit tests
* fix that
Co-authored-by: Comma Device <device@comma.ai>
3 years ago
5d33199905
sim: fix sensor freq and timestamps ( #25937 )
...
* sim: fix sensor freq and timestamps
* 100hz
* fix that too
3 years ago
29d3ed2ce6
Sensor events splitup ( #25714 )
...
* PoC of reading sensors via interrupts instead of polling
* add Gyro and draft for magn
* add more functionality to gpio.cc
* change LSM gyro to interrupt
* resolve rebase conflict
* update BMX accel interrupt impl
* add interrupt collector thread to fetch in parallel
* change get_event interface to return true on successful read
* update BMX gyro interrupt impl
* update gpio.h/.cc according to comments
* address comments, rename Edgetype enum
* Edgetype to EdgeType
* update sensor interrupt interface
* add error handling, and read fd on trigger
* avoid sending empty messages
* fix build
* use gpiochip
* less diff
* gpiochip on both edges, but skip falling edge if rising edge is detected
* init last_ts with 0
* update sensord testcases
* update sensord testsweet
* test for pipeline
* readd with_process
* add null check
* move tests update to seperate PR
* sensord: improve test coverage (#25683 )
* update sensord-interrupt testsweet
* address review comments
* inc stddev threshold
* fix format string
* add version 0 check again
* relax strictness after c3 with bmx tests
* relax strictness after tests
Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com>
* address PR comments
* fix typo
* remove 4ms limit, and skip first 0.5sec of data
* revert disable_interuppt change to destructor
* fix and remove timing skip
* make gpiochip generic
* sensord port
* change from sensorEvents to separated events
* fix gyro usage
* add splitted sensor tests
* modify debug script sensor_data_to_hist.py
* refactor get_event interface to remove sensorEvent message type
* update locationd to non sensorEvent usage
* tmp commit
* fix replay
* fix accelerometer type
* fix sensor to hist debug script
* update sensord tests to split events
* remove rebase artifacts
* port test_sensord.py
* small clean up
* change cereal to sensorEvents-splitup branch
* upate sensorEvents in regen
* fix route generation for splitted sensor events
* regen cleanUp from sensorEvents change
* .
* remove light and temp from locationd
* add generic init delay per sensor
* .
* update routes
* move bmx gyro/accel to its own channel
* adopt sensor tests to bmx channel
* remove rebase artifacts
* fix sensord test
* handle bmx not present
* add bmx sockets to regen
* .
* .
* code cleanUp
* .
* address PR comments
* address PR comments
* address PR comments
* lsm clean up
* readd sensorEvents
* rever regen.py
* .
* update replay refs
* move channels
* fix artifact
* bump cereal
* update refs
* fix timing issue
Co-authored-by: Bruce Wayne <batman@workstation-eu-intern2.eu.local>
Co-authored-by: gast04 <kurt.nistelberger@gmail.com>
Co-authored-by: Willem Melching <willem.melching@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
3 years ago
6590fb2b93
pre-commit: add codespell ( #25571 )
3 years ago
32201bbbbd
Quectel unix timestamp ( #25329 )
...
* Use laika
* Fix bug
* Better timestamp name
* Better name
* bump cereal
3 years ago
11da2804f6
Support quectel gps ( #25299 )
...
* qcom clock gets corrected randomly it seems
* Use quectel gps
* fix small laikad bugs
* Support both
* Support ublox and qcom clock model
* fix laikad test
* fix typo
* Back to original value
* More typos
Co-authored-by: Comma Device <device@comma.ai>
3 years ago
e6da217813
SubMaster: support for polling in C++ ( #24602 )
...
* poll when sm.update isn't 0
* bump cereal
* poll modelV2 in UI
* fix driverview
* need to update here
* empty list means poll all
revert
* Revert "poll modelV2 in UI"
This reverts commit 82aac96a1f074ee10f17
3 years ago
f54e724b5d
Body cleanup + 100Hz locationd ( #24168 )
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* use PID
* 100hz on the branch
* Better defaults
* fix int clip
* More cleanup
* Fix pid comments
* only notcar gets 100hz
* cleanup
* fix tests
* ignore
* update refs
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
4 years ago
dfc1292614
locationd: Commissue fix ( #23951 )
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* check allAliveAndValid only at filter init
* revert cereal and bugfix test
* rename filterValid to filterInitialized
* bump cereal
* correct err
* update refs
4 years ago
f4c822e8c6
locationd: fix writing LastGPSPosition interval ( #23895 )
4 years ago
7e6903b58f
locationd, paramsd: Check conditions before updating kalman filters ( #23789 )
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* update filters only when all messages are alivbe and valid
* update message valid and fix unit test
* update refs
* move check outside loop
* modify fake message fn in test
* deprecate inputsOK and resolve PR comments
* avoid double looped list comprehension
* follow import conventions
* modify paramsd valid to only be invalid in case of commIssue
* update refs
4 years ago
f808b174af
use roll std from locationd ( #23449 )
...
* use roll std from locationd
* cleaner
* add todo
* new ref
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
4 years ago
ef225e3e35
locationd: disable falling device detector ( #23431 )
4 years ago
9decd3d8a2
util: move all functions into util namespace ( #23203 )
4 years ago
48963d4b24
locationd_thread: fix possible dangling reference to params ( #23156 )
4 years ago
64eb5b0da4
locationd: cleanup ( #23088 )
...
* remove dead code, avoid indexing by value in locationd
* remove dead states in live_kf
4 years ago
8b6a147583
locationd: Fix Nav localization reliability ( #22959 )
...
* modify reset logic
* remove debug statements
* use ecef pos and vel covariances during reset
* reset orientations initialized to 0,0,GPSbearing
* refactor nav fix
* add fake gps observations to control ecef pos and ecef vel std
* replace fake_P with individual fake cov
* set gps mode flag
* add gps invalid flag names
* update refs
* more accurate gps accuracy check + update refs
4 years ago
534bf697ee
locationd : Acceleration Bias in locationd ( #22879 )
...
* add accel bias to filter for offline calculation
* bugfix acc bias in live_kf
* add no_accel obsertvation
* increase initial certainty of acc-bias and reduce PN
* increase initial certainty of acc-bias and reduce PN
* increase accel bias PN
* increase obs noise for no_accel observation
* style fixes
* update refs
4 years ago
c7be73b826
locationd: Set ECEF_POS valid flag to false if in no-gps mode ( #22857 )
...
* set ECEF_POS valid flag to false if in no-gps mode
* modify valid flag for all ecef states before gps
* add calibrated valid when no gps
* update refs
* remove extra whitespace
* add invalid flag to all NED values pre gps
* update refs
* update correct refs
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
4 years ago
5c810a45b0
locationd: Make live_kf robust to no GPS ( #22774 )
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* add no gps observations
* use correct ecef_location, orientation vals and stds for nogps states
* remove earth radius obs
* move initial loc to the ocean
* remove unnecessary changes
* update refs
4 years ago
5246f0231e
enable wshadow ( #22756 )
...
* enable wshadow (#22714 )
* fix replay
* more build fixes
Co-authored-by: Willem Melching <willem.melching@gmail.com>
4 years ago
f1546e6552
expose filter internal states and stds ( #22564 )
4 years ago
d22f57e36d
remove confusing logic in live_kf, move to locationd ( #22558 )
4 years ago
3778592f50
locationd: modify factor for measurement STDEV in gps update ( #22262 )
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* modify factor for measurement STDEV in gps update
* add new ref_commit
4 years ago
e0087fc313
Fix orientation in map ( #21863 )
...
* fix calibrated orientation
* update ref
* cleaner
* update ref
* master
* update again
* update ref again again
* actually compiled this tim,e
4 years ago
e63d94d8d2
Revert "nav: use calibrated orientation ( #21853 )"
...
This reverts commit 4b209f31a1
4 years ago
4b209f31a1
nav: use calibrated orientation ( #21853 )
...
* calibrate map
* msg added
4 years ago
049a1bca34
Better localizer unstable alert ( #21660 )
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* use canonical language
* filter out when gps signal is flaky
* Update selfdrive/locationd/locationd.cc
Co-authored-by: Willem Melching <willem.melching@gmail.com>
Co-authored-by: Willem Melching <willem.melching@gmail.com>
4 years ago
6feafc0042
tici: use LSM6DS3 ( #21496 )
4 years ago
f01ebc5680
make locationd and paramsd RT ( #21264 )
4 years ago
9a2306e008
gps can be bad in cities ( #21270 )
4 years ago
Kurt Nistelberger
Kurt Nistelberger
Vivek Aithal
HaraldSchafer
Adeeb Shihadeh
Shane Smiskol
Willem Melching
Dean Lee
Mayfield