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use roll std from locationd #23449

Merged
merged 4 commits into from
Jan 13, 2022
Merged

use roll std from locationd #23449

merged 4 commits into from
Jan 13, 2022

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nuwandavek
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@nuwandavek nuwandavek marked this pull request as draft January 8, 2022 01:25
haraschax
haraschax reviewed Jan 8, 2022
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selfdrive/locationd/paramsd.py Outdated
# A high multiplier (~10) has a better effect in filtering out jumps, but introduces a lag
# in the learnt roll value.
# A multiplier of 2, has steady state std ~1deg, and sufficiently filters out jumps
roll_std = localizer_roll_std * 2
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2 * localizer_roll_std

haraschax
haraschax reviewed Jan 8, 2022
View reviewed changes
selfdrive/locationd/paramsd.py Outdated
# A multiplier is needed as the std at localizer-filter-reset point is not high enough.
# A high multiplier (~10) has a better effect in filtering out jumps, but introduces a lag
# in the learnt roll value.
# A multiplier of 2, has steady state std ~1deg, and sufficiently filters out jumps
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Change whole comment block

Experimentally found multiplier of 2 to be best trade-off between stability and accuracy or similar?

@pd0wm pd0wm added controls controls/planner related enhancement labels Jan 10, 2022
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@adeebshihadeh Looks like proc replay is passing here when it should fail? Comparison with nan always passes?

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@adeebshihadeh Looks like proc replay is passing here when it should fail? Comparison with nan always passes?

Fixed in 9941c99

@haraschax haraschax marked this pull request as ready for review January 13, 2022 02:35
@haraschax haraschax merged commit f808b17 into master Jan 13, 2022
@haraschax haraschax deleted the ned-std branch January 13, 2022 05:37
budney added a commit to budney/openpilot that referenced this pull request Jan 14, 2022
@budney
Squash merge of the following commits from commaai/master:
cb1b6fd 
7eca4d6 tools: better joystick instructions
ed5e58c Hyundai: use regular Hyundai safety mode and add radar DBC (commaai#23461)
233a6e4 LanePlanner: offsets cleanup (commaai#23459)
24213ac lfs: easier to use config (commaai#23490)
6e817f9 manager: default driverview to False (commaai#23492)
44592f4 statsd: run at 2Hz (commaai#23493)
35ec6ac use ndarray.tolist  to convert numpy array to float (commaai#23485)
8444f82 calibrationd: convert existing calibration to numpy (commaai#23494)
5fb9c6a thermald has slowly started to use more CPU
678732d AlertManager: cleanup add_many (commaai#23438)
85dcfbb update comment (commaai#23495)
a186bcc cleanup iterate keys in dictionaries (commaai#23497)
79577e4 boardd: remove ublox timestamp logging (commaai#23498)
dbae5e7 lateral_planner: use nympy.isnan().any() (commaai#23500)
b1a226b VW MQB: Add FW for 2022 Volkswagen Atlas (commaai#23501)
eb9f359 Toyota: Support Avalon 2022 (TSS2.5) (commaai#23381)
08a1ce0 update release notes
3816ecf bump opendbc
9941c99 process replay: handle inf and nan in absolute tolerance
de572c3 calibrationd: fix indentation (commaai#23502)
e5f9af4 calibrationd: Don't repeatedly call get_valid_idxs() (commaai#23473)
f808b17 use roll std from locationd (commaai#23449)
7d7c0ff tools: add bootlog helpers (commaai#23504)
ee52a61 add pre-commit hook for large files (commaai#23505)
c214aee cleanup .gitattributes (commaai#23503)
9e1428f Do not disable loggerd when below 5% space (commaai#23440)
48b6dfa controlsd: check self.enabled out of the any() (commaai#23507)
c84a085 bump cereal: more qlog decimation
fcfea4c Kia Niro EV - replace \000 by \x00 (commaai#23509)
6d16b0c can_printer.py: default no ascii
1538013 pandad: only reset pandas on first run (commaai#23511)
6d5dce2 Subaru: fix missing commas in fingerprints (commaai#23512)
2c94f15 linter: don't allow implicitly concatenated strings (commaai#23513)
d5f4fdb eliminate xx filereader (commaai#23514)
57156c4 Chrysler: remove standstill exception for gas disengage (commaai#23515)
df35ebd fix filereader cd:/ replacement
a6b46c3 filereader better name for cd:/ replacement
6dbae95 UI: reset interactivity timeout on PC (commaai#23508)
9f4fd73 Toyota: DBC signal renames (commaai#23452)
fd042a5 controlsd: cleanup parsing android log (commaai#23421)
feae375 swaglog.cc: add test case. fixed the ctx of the first message is empty (commaai#23226)
8c53adf swaglog: add daemon name to context (commaai#23518)
610b99f Log android system shutdown to param (commaai#23520)
ef3a549 thermald: remove modem version log (commaai#23524)
e72eb1d thermald: remove brightness setting on ui crash (commaai#23527)
ed23177 thermald: remove panda disconnect logic (commaai#23526)
53ca036 thermald: let manager handle shutdown (commaai#23528)
b75e410 boardd: panda_state_thread run closer to 2 Hz (commaai#23529)
785180d MainWindow::eventFilter: add static keyword for evts (commaai#23521)
75be122 ui/WifiManager: inherit from QObject instead of QWidget (commaai#23523)
39d904d ui/networking: combine connect functions into one (commaai#23522)
308a6f1 manager: log exit reason (commaai#23532)
@pd0wm pd0wm mentioned this pull request Jan 17, 2022
Closed
twilsonco pushed a commit to twilsonco/openpilot that referenced this pull request Feb 13, 2022
@nuwandavek @haraschax @twilsonco
use roll std from locationd (commaai#23449)
060cdd3 
* use roll std from locationd

* cleaner

* add todo

* new ref

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
mcallbosco pushed a commit to mcallbosco/openpilot that referenced this pull request Feb 13, 2022
@nuwandavek @haraschax @mcallbosco
use roll std from locationd (commaai#23449)
ba15273 
* use roll std from locationd

* cleaner

* add todo

* new ref

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
mcallbosco added a commit to mcallbosco/openpilot that referenced this pull request Feb 13, 2022
@mcallbosco
Revert "use roll std from locationd (commaai#23449)"
2cc61a4 
This reverts commit ba15273.
twilsonco pushed a commit to twilsonco/openpilot that referenced this pull request Feb 14, 2022
@nuwandavek @haraschax @twilsonco
use roll std from locationd (commaai#23449)
65231aa 
* use roll std from locationd

* cleaner

* add todo

* new ref

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
mcallbosco added a commit to mcallbosco/openpilot that referenced this pull request Feb 15, 2022
@mcallbosco
Revert "Revert "use roll std from locationd (commaai#23449)""
ea46dd9 
This reverts commit 2cc61a4.
mcallbosco pushed a commit to mcallbosco/openpilot that referenced this pull request Feb 15, 2022
@haraschax @mcallbosco
Road Roll Compensation/ Paramsd fix
7c53b21 
* first commit

* update refs

use roll std from locationd (commaai#23449)

* use roll std from locationd

* cleaner

* add todo

* new ref

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>

paramsd: fix VehicleModelInvalid errors (commaai#23726)

* bound steerratio, stiffness std

* remove start steer_ratio limits after looking at data

* reduce sf obs noise

* update refs

* update refs

* add comment explaining change

Revert "paramsd: fix VehicleModelInvalid errors (commaai#23726)"

This reverts commit 95324bd.

Revert "use roll std from locationd (commaai#23449)"

This reverts commit ba15273.

Fix?

Revert "Fix?"

This reverts commit 2f5c06a.

Revert "Road Roll Compensation Rebased (commaai#23251)"

This reverts commit c94b745.

Revert "Revert "Fix?""

This reverts commit a922316.

Revert "Revert "Road Roll Compensation Rebased (commaai#23251)""

This reverts commit 341deaa.

Revert "Revert "use roll std from locationd (commaai#23449)""

This reverts commit 2cc61a4.

Revert "Revert "paramsd: fix VehicleModelInvalid errors (commaai#23726)""

This reverts commit 0a04afb.
mcallbosco added a commit to mcallbosco/openpilot that referenced this pull request Feb 15, 2022
@mcallbosco @haraschax @nuwandavek
Road Roll Compensation/ Paramsd fix from 8.13
618d0d8 
* Trying out some things for the CC speed limit chime

* 3X MOD TEST

* Translation update to specify that it's for the clarity 3x mod

* EPS pack part whatever now automated

* Speed Limit stuff

* idiot

* Speed limit tests

* Fix?

* 3rdish time's the charm

* again

* Another one

* FINALLY FIXED

* Removing attempts at something

* Road Roll Compensation Rebased (commaai#23251)

* first commit

* update refs

* use roll std from locationd (commaai#23449)

* use roll std from locationd

* cleaner

* add todo

* new ref

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>

* paramsd: fix VehicleModelInvalid errors (commaai#23726)

* bound steerratio, stiffness std

* remove start steer_ratio limits after looking at data

* reduce sf obs noise

* update refs

* update refs

* add comment explaining change

* Revert "paramsd: fix VehicleModelInvalid errors (commaai#23726)"

This reverts commit 95324bd.

* Revert "use roll std from locationd (commaai#23449)"

This reverts commit ba15273.

* Fix?

* Revert "Fix?"

This reverts commit 2f5c06a.

* Revert "Road Roll Compensation Rebased (commaai#23251)"

This reverts commit c94b745.

* Revert "Revert "Fix?""

This reverts commit a922316.

* Revert "Revert "Road Roll Compensation Rebased (commaai#23251)""

This reverts commit 341deaa.

* Revert "Revert "use roll std from locationd (commaai#23449)""

This reverts commit 2cc61a4.

* Revert "Revert "paramsd: fix VehicleModelInvalid errors (commaai#23726)""

This reverts commit 0a04afb.

* Road Roll Compensation/ Paramsd fix

* first commit

* update refs

use roll std from locationd (commaai#23449)

* use roll std from locationd

* cleaner

* add todo

* new ref

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>

paramsd: fix VehicleModelInvalid errors (commaai#23726)

* bound steerratio, stiffness std

* remove start steer_ratio limits after looking at data

* reduce sf obs noise

* update refs

* update refs

* add comment explaining change

Revert "paramsd: fix VehicleModelInvalid errors (commaai#23726)"

This reverts commit 95324bd.

Revert "use roll std from locationd (commaai#23449)"

This reverts commit ba15273.

Fix?

Revert "Fix?"

This reverts commit 2f5c06a.

Revert "Road Roll Compensation Rebased (commaai#23251)"

This reverts commit c94b745.

Revert "Revert "Fix?""

This reverts commit a922316.

Revert "Revert "Road Roll Compensation Rebased (commaai#23251)""

This reverts commit 341deaa.

Revert "Revert "use roll std from locationd (commaai#23449)""

This reverts commit 2cc61a4.

Revert "Revert "paramsd: fix VehicleModelInvalid errors (commaai#23726)""

This reverts commit 0a04afb.

Co-authored-by: HaraldSchafer <harald.the.engineer@gmail.com>
Co-authored-by: Vivek Aithal <vivekaithal44@gmail.com>
twilsonco pushed a commit to twilsonco/openpilot that referenced this pull request Feb 16, 2022
@nuwandavek @haraschax @twilsonco
use roll std from locationd (commaai#23449)
bee2b92 
* use roll std from locationd

* cleaner

* add todo

* new ref

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
twilsonco pushed a commit to twilsonco/openpilot that referenced this pull request Feb 17, 2022
@nuwandavek @haraschax @twilsonco
use roll std from locationd (commaai#23449)
d7d87c4 
* use roll std from locationd

* cleaner

* add todo

* new ref

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
budney added a commit to budney/openpilot that referenced this pull request Mar 24, 2022
@budney
Squash merge of the following commits from commaai/master:
79e48db 
7eca4d6 tools: better joystick instructions
ed5e58c Hyundai: use regular Hyundai safety mode and add radar DBC (commaai#23461)
233a6e4 LanePlanner: offsets cleanup (commaai#23459)
24213ac lfs: easier to use config (commaai#23490)
6e817f9 manager: default driverview to False (commaai#23492)
44592f4 statsd: run at 2Hz (commaai#23493)
35ec6ac use ndarray.tolist  to convert numpy array to float (commaai#23485)
8444f82 calibrationd: convert existing calibration to numpy (commaai#23494)
5fb9c6a thermald has slowly started to use more CPU
678732d AlertManager: cleanup add_many (commaai#23438)
85dcfbb update comment (commaai#23495)
a186bcc cleanup iterate keys in dictionaries (commaai#23497)
79577e4 boardd: remove ublox timestamp logging (commaai#23498)
dbae5e7 lateral_planner: use nympy.isnan().any() (commaai#23500)
b1a226b VW MQB: Add FW for 2022 Volkswagen Atlas (commaai#23501)
eb9f359 Toyota: Support Avalon 2022 (TSS2.5) (commaai#23381)
08a1ce0 update release notes
3816ecf bump opendbc
9941c99 process replay: handle inf and nan in absolute tolerance
de572c3 calibrationd: fix indentation (commaai#23502)
e5f9af4 calibrationd: Don't repeatedly call get_valid_idxs() (commaai#23473)
f808b17 use roll std from locationd (commaai#23449)
7d7c0ff tools: add bootlog helpers (commaai#23504)
ee52a61 add pre-commit hook for large files (commaai#23505)
c214aee cleanup .gitattributes (commaai#23503)
9e1428f Do not disable loggerd when below 5% space (commaai#23440)
48b6dfa controlsd: check self.enabled out of the any() (commaai#23507)
c84a085 bump cereal: more qlog decimation
fcfea4c Kia Niro EV - replace \000 by \x00 (commaai#23509)
6d16b0c can_printer.py: default no ascii
1538013 pandad: only reset pandas on first run (commaai#23511)
6d5dce2 Subaru: fix missing commas in fingerprints (commaai#23512)
2c94f15 linter: don't allow implicitly concatenated strings (commaai#23513)
d5f4fdb eliminate xx filereader (commaai#23514)
57156c4 Chrysler: remove standstill exception for gas disengage (commaai#23515)
df35ebd fix filereader cd:/ replacement
a6b46c3 filereader better name for cd:/ replacement
6dbae95 UI: reset interactivity timeout on PC (commaai#23508)
9f4fd73 Toyota: DBC signal renames (commaai#23452)
fd042a5 controlsd: cleanup parsing android log (commaai#23421)
feae375 swaglog.cc: add test case. fixed the ctx of the first message is empty (commaai#23226)
8c53adf swaglog: add daemon name to context (commaai#23518)
610b99f Log android system shutdown to param (commaai#23520)
ef3a549 thermald: remove modem version log (commaai#23524)
e72eb1d thermald: remove brightness setting on ui crash (commaai#23527)
ed23177 thermald: remove panda disconnect logic (commaai#23526)
53ca036 thermald: let manager handle shutdown (commaai#23528)
b75e410 boardd: panda_state_thread run closer to 2 Hz (commaai#23529)
785180d MainWindow::eventFilter: add static keyword for evts (commaai#23521)
75be122 ui/WifiManager: inherit from QObject instead of QWidget (commaai#23523)
39d904d ui/networking: combine connect functions into one (commaai#23522)
308a6f1 manager: log exit reason (commaai#23532)
budney pushed a commit to budney/openpilot that referenced this pull request Mar 29, 2022
@nuwandavek @haraschax
use roll std from locationd (commaai#23449)
82b5089 
* use roll std from locationd

* cleaner

* add todo

* new ref

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
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@nuwandavek @haraschax @adeebshihadeh @pd0wm