locationd no GPS #33029
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locationd no GPS #33029
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fredyshox
commented
Jul 20, 2024
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fredyshox
commented
- clean validity checks locationd: refactor validity checks #26496
| @@ -59,7 +59,7 @@ def only_offroad(started, params, CP: car.CarParams) -> bool: | |||
| NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC), | |||
| NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)), | |||
| PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad), | |||
| NativeProcess("locationd", "selfdrive/locationd", ["./locationd"], only_onroad), | |||
| PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad), | |||
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@deanlee this new process uses 2-3x more CPU than the previous locationd. want to see where all that's going?
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I'm investigating the bottleneck but haven't pinpointed it yet. Any insights or suggestions?
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It looks like the bottleneck is in rednose/helpers/ekf_sym_pyx.pyx
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* Pose kf draft old-commit-hash: 17dd4d5 * Fix it old-commit-hash: 13ac120 * Add translation noise old-commit-hash: 166529c * Add gravity to acc old-commit-hash: 8fcfed5 * Use pyx old-commit-hash: 8e69e0b * Indent old-commit-hash: 25b19a7 * Reset function old-commit-hash: ca5d273 * Add device_from_ned and ned_from_device transformations old-commit-hash: a60d25d * Fix rotations old-commit-hash: d6d582f * kms old-commit-hash: 681bc4e * Centripetal acceleration old-commit-hash: 6e57450 * Rewrite draft old-commit-hash: 4a2aad0 * Remove old locationd stuff old-commit-hash: c2be9f7 * Python process now old-commit-hash: 83fac85 * Process replay fix old-commit-hash: c44f9de * Add checks for timing and validity old-commit-hash: aed4fbe * Fixes old-commit-hash: 3f052c6 * Process replay config fixes old-commit-hash: 1c56690 * static analysis fixes old-commit-hash: 6145e2c * lp in latcontrol old-commit-hash: 9abf735 * Fix SensorEvent name for acceleration old-commit-hash: 91a1ad6 * Ignore sensor readings from segments with multiple imus old-commit-hash: 1f05af6 * Update shebang old-commit-hash: e3f2f5c * Replace llk with lp old-commit-hash: 99b6c7b * Refactor locationd scenario test old-commit-hash: 7f5f788 * Add more debugging tools old-commit-hash: 8d4e364 * Param name update old-commit-hash: 5151e8f * Fix expected observations old-commit-hash: d6a0d4c * Handle invalid measurements old-commit-hash: 5493625 * Fix spelling old-commit-hash: eefd7c4 * Include observations in debug info too old-commit-hash: 625806d * Store error instead of expected observation old-commit-hash: 1cb7a79 * Renames old-commit-hash: a7eec74 * Zero the yaw old-commit-hash: 9615077 * New state_dot for orientation old-commit-hash: c1456bf * Fix the state transformations old-commit-hash: 7cb9b91 * Update process in test_onroad old-commit-hash: 854afab * Test polling on cameraOdometry old-commit-hash: a78e8b7 * Keep the copy of x and P returned from predict old-commit-hash: 3c4159a * Remove polling again old-commit-hash: f722867 * Remove locationd.cc old-commit-hash: d700559 * Optim in _finite_check old-commit-hash: 58ad6a0 * Access .t once old-commit-hash: d03252e * Move the timing check to cam odo code path old-commit-hash: 6a1c26f * Call all_checks only once old-commit-hash: 373809c * Do not sort old-commit-hash: 2984cd0 * Check sm.updated old-commit-hash: 11c48de * Remove test_params_gps old-commit-hash: 82db4fd * Increase tolerance old-commit-hash: 927d6f0 * Fix static old-commit-hash: 2d86d62 * Try separate sockets for sensors old-commit-hash: 5dade63 * sensor_all_checks old-commit-hash: e25f40d * Fix static old-commit-hash: 328cf1a * Set the cpu limit to 25 old-commit-hash: 7ba696f * Make it prettier old-commit-hash: cd6270d * Prettier old-commit-hash: 1b17931 * Increase the cpu budget to 260 old-commit-hash: 20173af * Change trans std mult. 2 works better * Update ref commit * Update ref commit
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