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laikad: use cython filter #24983

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Jun 28, 2022
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laikad: use cython filter #24983

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4 changes: 2 additions & 2 deletions selfdrive/locationd/laikad.py
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@ class Laikad:
def __init__(self, valid_const=("GPS", "GLONASS"), auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV),
save_ephemeris=False, last_known_position=None):
self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True)
self.gnss_kf = GNSSKalman(GENERATED_DIR)
self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True)

self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None
self.orbit_fetch_future: Optional[Future] = None
Expand Down Expand Up @@ -145,7 +145,7 @@ def update_localizer(self, est_pos, t: float, measurements: List[GNSSMeasurement
self.gnss_kf.predict(t)

def kf_valid(self, t: float) -> List[bool]:
filter_time = self.gnss_kf.filter.filter_time
filter_time = self.gnss_kf.filter.get_filter_time()
return [filter_time is not None,
filter_time is not None and abs(t - filter_time) < MAX_TIME_GAP,
all(np.isfinite(self.gnss_kf.x[GStates.ECEF_POS]))]
Expand Down