Ford: group similar coverage range measurements #1417
Closed
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
|
Combining the two measurements from each Doppler coverage scan doubles the update frequency of each radar point from ~8 Hz to ~16 Hz, which is seen clearly in the
|
…r-range-coverages
|
I noticed that Ford's radar parser often deletes and re-creates tracks due to some switching logic we have. radard doesn't handle this well, as aLeadK is calculated on a per-track basis, so it's nearly always zero, causing the planner to not react well to heavily braking leads. This PR only exacerbates this problem, best to track each scan mode's points individually since it helps reduce track switching and I will check the CPU usage. |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Increases rate of points from ~8Hz to ~16Hz, but decreases points by half