selfdrive.locationd package
Subpackages
- selfdrive.locationd.models package
- Submodules
- selfdrive.locationd.models.car_kf module
- selfdrive.locationd.models.constants module
ObservationKind
ObservationKind.ANGLE_OFFSET_FAST
ObservationKind.CAMERA_ODO_ROTATION
ObservationKind.CAMERA_ODO_TRANSLATION
ObservationKind.ECEF_ORIENTATION_FROM_GPS
ObservationKind.ECEF_POS
ObservationKind.ECEF_VEL
ObservationKind.FEATURE_TRACK_TEST
ObservationKind.GPS_NED
ObservationKind.GPS_VEL
ObservationKind.IMU_FRAME
ObservationKind.LANE_PT
ObservationKind.MSCKF_TEST
ObservationKind.NO_ACCEL
ObservationKind.NO_OBSERVATION
ObservationKind.NO_ROT
ObservationKind.ODOMETRIC_SPEED
ObservationKind.ORB_FEATURES
ObservationKind.ORB_FEATURES_WIDE
ObservationKind.ORB_POINT
ObservationKind.PHONE_ACCEL
ObservationKind.PHONE_GYRO
ObservationKind.PSEUDORANGE
ObservationKind.PSEUDORANGE_GLONASS
ObservationKind.PSEUDORANGE_GPS
ObservationKind.PSEUDORANGE_RATE
ObservationKind.PSEUDORANGE_RATE_GLONASS
ObservationKind.PSEUDORANGE_RATE_GPS
ObservationKind.ROAD_FRAME_XY_SPEED
ObservationKind.ROAD_FRAME_X_SPEED
ObservationKind.ROAD_FRAME_YAW_RATE
ObservationKind.ROAD_ROLL
ObservationKind.SPEED
ObservationKind.STEER_ANGLE
ObservationKind.STEER_RATIO
ObservationKind.STIFFNESS
ObservationKind.UNKNOWN
ObservationKind.names
ObservationKind.to_string()
- selfdrive.locationd.models.live_kf module
LiveKalman
States
States.ACCELERATION
States.ACCELERATION_ERR
States.ACC_BIAS
States.ACC_BIAS_ERR
States.ANGULAR_VELOCITY
States.ANGULAR_VELOCITY_ERR
States.ECEF_ORIENTATION
States.ECEF_ORIENTATION_ERR
States.ECEF_POS
States.ECEF_POS_ERR
States.ECEF_VELOCITY
States.ECEF_VELOCITY_ERR
States.GYRO_BIAS
States.GYRO_BIAS_ERR
numpy2eigenstring()
- Module contents
- selfdrive.locationd.test package
- Submodules
- selfdrive.locationd.test.test_calibrationd module
TestCalibrationd
TestCalibrationd.test_calibration_auto_reset()
TestCalibrationd.test_calibration_basics()
TestCalibrationd.test_calibration_low_speed_reject()
TestCalibrationd.test_calibration_speed_std_height_reject()
TestCalibrationd.test_calibration_speed_std_reject()
TestCalibrationd.test_calibration_yaw_rate_reject()
TestCalibrationd.test_read_saved_params()
process_messages()
- selfdrive.locationd.test.test_locationd module
- selfdrive.locationd.test.test_locationd_scenarios module
Scenario
TestLocationdScenarios
TestLocationdScenarios.pytestmark
TestLocationdScenarios.setUpClass()
TestLocationdScenarios.test_accel_off()
TestLocationdScenarios.test_accel_spikes()
TestLocationdScenarios.test_base()
TestLocationdScenarios.test_gps_off()
TestLocationdScenarios.test_gps_off_midway()
TestLocationdScenarios.test_gps_on_midway()
TestLocationdScenarios.test_gps_tunnel()
TestLocationdScenarios.test_gyro_off()
TestLocationdScenarios.test_gyro_spikes()
get_select_fields_data()
run_scenarios()
- Module contents
Submodules
selfdrive.locationd.calibrationd module
This process finds calibration values. More info on what these calibration values are can be found here https://github.com/commaai/openpilot/tree/master/common/transformations While the roll calibration is a real value that can be estimated, here we assume it’s zero, and the image input into the neural network is not corrected for roll.
- class selfdrive.locationd.calibrationd.Calibrator(param_put: bool = False)[source]
Bases:
object
- handle_cam_odom(trans: list[float], rot: list[float], wide_from_device_euler: list[float], trans_std: list[float], road_transform_trans: list[float], road_transform_trans_std: list[float]) ndarray | None [source]
selfdrive.locationd.helpers module
- class selfdrive.locationd.helpers.ParameterEstimator[source]
Bases:
object
Base class for parameter estimators
- get_msg(valid: bool, with_points: bool) <capnp.lib.capnp._StructModule object at 0x7f3309022890> [source]
selfdrive.locationd.paramsd module
- class selfdrive.locationd.paramsd.ParamsLearner(CP, steer_ratio, stiffness_factor, angle_offset, P_initial=None)[source]
Bases:
object
selfdrive.locationd.torqued module
- class selfdrive.locationd.torqued.TorqueBuckets(x_bounds: list[tuple[float, float]], min_points: list[float], min_points_total: int, points_per_bucket: int, rowsize: int)[source]
Bases:
PointBuckets