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Revert "Dont use erratic current block" #23221

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Merged
merged 1 commit into from
Dec 14, 2021
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Revert "Dont use erratic current block" #23221

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12 changes: 3 additions & 9 deletions selfdrive/locationd/calibrationd.py
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Original file line number Diff line number Diff line change
Expand Up @@ -99,16 +99,10 @@ def reset(self, rpy_init=RPY_INIT, valid_blocks=0, smooth_from=None):
self.old_rpy = smooth_from
self.old_rpy_weight = 1.0

def get_valid_idxs(self, ):
# exclude current block_idx from validity window
before_current = list(range(self.block_idx))
after_current = list(range(min(self.valid_blocks, self.block_idx + 1), self.valid_blocks))
return before_current + after_current

def update_status(self):
if self.valid_blocks > 0:
max_rpy_calib = np.array(np.max(self.rpys[self.get_valid_idxs()], axis=0))
min_rpy_calib = np.array(np.min(self.rpys[self.get_valid_idxs()], axis=0))
max_rpy_calib = np.array(np.max(self.rpys[:self.valid_blocks], axis=0))
min_rpy_calib = np.array(np.min(self.rpys[:self.valid_blocks], axis=0))
self.calib_spread = np.abs(max_rpy_calib - min_rpy_calib)
else:
self.calib_spread = np.zeros(3)
Expand Down Expand Up @@ -164,7 +158,7 @@ def handle_cam_odom(self, trans, rot, trans_std, rot_std):
self.valid_blocks = max(self.block_idx, self.valid_blocks)
self.block_idx = self.block_idx % INPUTS_WANTED
if self.valid_blocks > 0:
self.rpy = np.mean(self.rpys[self.get_valid_idxs()], axis=0)
self.rpy = np.mean(self.rpys[:self.valid_blocks], axis=0)

self.update_status()

Expand Down