fb06d2769f
Sensor events splitup ( #25714 )
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* 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>
old-commit-hash: 29d3ed2ce6
3 years ago
88a90035cf
split locationd and liblocationd tests ( #24977 )
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* laikad: use cython version of gnss kf
* fix import error
* test liblocationd separate
* Revert "laikad: use cython version of gnss kf"
This reverts commit bdd769b955b95e687782
3 years ago
7cd23af9b1
Mypy fixes for --check-untyped-defs ( #24372 )
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more type fixes
old-commit-hash: 17e33978cd
3 years ago
b0444b39d2
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>
old-commit-hash: f54e724b5d
3 years ago
069fe1a749
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
old-commit-hash: dfc1292614
3 years ago
5bad0f4400
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
old-commit-hash: 7e6903b58f
3 years ago
1d324e09c4
skip falling device test
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old-commit-hash: 1a6881edc6
3 years ago
420090ffea
time checks in locationd ( #20880 )
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* time checks
* no debug print
* correct timestamps in test
* non nan
old-commit-hash: 62e22e7eac
4 years ago
4707416cdd
Locationd input sanity checks ( #20845 )
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* Add first sanity checks on inputs
* more gps checks
* make sure test values pass sanity checks
* this localizer supports cannonball runs
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
old-commit-hash: c62bb10640
4 years ago
b4263a43fc
Locationd 100 Hz ( #20816 )
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* fix std transform
* 100Hz
* new ref
* no more decimation
* clean up confusing maths
* static typing
* Revert "static typing"
This reverts commit 23d87337de648e629fbd35dd8c04a740bbefca47.
* 100Hz costs more
* move normalization into core
* add quat idxs
* add big eps
* this is not safe in the filter
* more sensible
* updates to rednose
* not tested
* normalize in python too
* update rednose
* nan check
* check for infs too
* all should be finite
* update ref
* rednose pr now in master
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
old-commit-hash: e9db5723ef
4 years ago
fd28911282
Revert "Locationd 100hz ( #20759 )" ( #20797 )
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* Revert "Locationd 100hz (#20759 )"
This reverts commit 995b89e6424a7b717fb2c725a64d617fb24a1a85.
* new ref
old-commit-hash: daecf4247b
4 years ago
cbc2cb24b7
Locationd 100hz ( #20759 )
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* fix std transform
* 100Hz
* new ref
* no more decimation
* clean up confusing maths
* static typing
* Revert "static typing"
This reverts commit 23d87337de648e629fbd35dd8c04a740bbefca47.
* 100Hz costs more
old-commit-hash: 333313cf0e
4 years ago
ac03b730a4
unittests for locationd uncommon events ( #20715 )
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* unittests for locationd uncommon events
* params test using process
* test for posenet spike
* fix library path
* move random seed to setup
old-commit-hash: 5fdcce2551
4 years ago
Kurt Nistelberger
Willem Melching
grekiki
HaraldSchafer
Vivek Aithal
Adeeb Shihadeh
Joost Wooning