cd190dc85d
Calibrationd: check size of valid_blocks without current ( #23223 )
4 years ago
40dcc63823
Calibrationd: don't use noisy current block ( #23222 )
4 years ago
837823ff58
Revert "Dont use erratic current block ( #23211 )" ( #23221 )
...
This reverts commit 19335bb6a4
4 years ago
19335bb6a4
Dont use erratic current block ( #23211 )
4 years ago
4aa291c406
Use std::unique_ptr to manage memory ( #23168 )
...
* use unique_ptr
* trigger ci
* move down loggerdstate
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
bb7208f4c3
add check for restoring almanac, and clear like suggested in the datasheet ( #23153 )
...
Co-authored-by: Comma Device <device@comma.ai>
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
b57f55088e
add a note in loc_kf ( #23082 )
4 years ago
5040427cb7
Mesh3D: Add accelerometer bias to loc_kf ( #22880 )
...
* add accel-bias to mesh3d
* remove acc scale
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
94d59314e2
Revert ecef std until real fix ( #22982 )
...
* too low
* update refs
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
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 )
...
* 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
2006aa412e
locationd: Gyro bias initial covariance ( #22622 )
...
* reduce cam odo std multiplier
* increase gyro obs noise
* increase initial cov for gyro bias
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
83a53618b3
paramsd: Sort messages in each update iteration before processing ( #22403 )
...
* sort livelocationKalman and carState messages in each update iteration before processing
* update refs
* update refs
* update refs
* update again
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
4 years ago
244fbde56e
Add paramsd Stdev to message ( #22443 )
...
* add STD to message
* use modified names for car_kf state stdev atttributes
* update refs
* add modofied cereal
* update refs
4 years ago
3778592f50
locationd: modify factor for measurement STDEV in gps update ( #22262 )
...
* 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
d74def61f8
fix: spelling typos ( #21861 )
...
* fix: typo spelling grammar
* revert
* Update selfdrive/locationd/calibrationd.py
* more revert
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
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 )
...
* 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
a3071bf15b
Update car_kf.py
4 years ago
f01ebc5680
make locationd and paramsd RT ( #21264 )
4 years ago
9a2306e008
gps can be bad in cities ( #21270 )
4 years ago
e4e669bb0f
add space after function name and if statement ( #21225 )
4 years ago
ee46672d3c
Passing arguments by reference ( #21205 )
4 years ago
9e94fb17cf
fix qcom and qcom2 builds
4 years ago
c53cb5d570
Use C++ header files instead of C header files. ( #21192 )
...
* use cstring instead of string.h
* use cstdio instead of stdio.h
* remove inttypes.h
* use cstdlib instead of stdlib.h
* use cstdint instead of stdint.h
* #include <cstddef>
* cstdlib
* use cmath
* remove stddef.h
* use cassert
* use csignal
* use ctime
* use cerror
* rebase master
4 years ago
1c926d23da
Many localizer resets alert ( #21116 )
...
* add excessive reset
* add alert
* add event
4 years ago
65e0b1e699
Cleanup util.h ( #20849 )
...
* cleanup util.h
* fix build error:omx_encoder.cc:408: undefined reference to do_exit
* fix build error
* rebase master
* move helper functions back to util
* ExitHandleHelper->ExitHandlerHelper
* std::clamp
* struct ExitHandlerHelper to class
* rebase master
* cleanup
* restore ExitHandler
* prefer cassert
4 years ago
f7cf66867b
remove test too
4 years ago
95380969ea
calibrationd: remove support for json params
4 years ago
ea5141d909
Store almanac on ublox poweroff ( #20967 )
...
* Store almanac on ublox poweroff
* send current UTC time
* move message building to ublox_msg.h
5 years ago
6b4e49af0e
fix linter
5 years ago
bffba1a91e
little helper script
5 years ago
2f80775b50
Filter only initialized if up for 1sec ( #20940 )
...
* add time since reset check
* fix time since reset
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com>
5 years ago
17c3220322
Rate limit paramsd angleOffset output ( #20946 )
...
* rate limit paramsd angle offset
* update ref
5 years ago
0495426535
Cleanup includes ( #20925 )
...
* remove #include <pthread.h>
* remove #include<stdbool.h> for cc files
* remove #include<iostream>
5 years ago
e5f93ef142
Add ublox interference monitor ( #20911 )
...
* add interference monitor
* new thresholds
* correct labels
* always run for test
* new msg
* add flag
* Revert "always run for test"
This reverts commit b04b92ac2d
5 years ago
65ab98a6c8
locationd: ignore empty sensorEvents ( #20887 )
5 years ago
62e22e7eac
time checks in locationd ( #20880 )
...
* time checks
* no debug print
* correct timestamps in test
* non nan
5 years ago
7222d0f20d
Cleanup selfdrive/ includes ( #20822 )
...
* cleanup include path
* continue
* format includes
* fix testraw.cc
* remove include path from SConstruct
* regroup
* rebase master
* almost done
* apply review
* rename FileReader.xx to filereader.xx
* rename Unlogger.x->unlogger.x
* rename FrameReader.xx -> framereader.xx
* apply reviews
* ui.h
* continue
* fix framebuffer.cc build error:mv util.h up
* full path to msm_media_info
* fix qcom2 camerad
Co-authored-by: Comma Device <device@comma.ai>
5 years ago
HaraldSchafer
Dean Lee
Robbe Derks
Vivek Aithal
Mayfield
arfy slowy
Willem Melching
Adeeb Shihadeh
Comma Device