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IQ.Pilot Release Commit @ 7550fa9

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IQ.Lvbs CI [bot]
2026-09-02 13:32:42 -05:00
parent 4efaff4cb2
commit 43ee82d228
24 changed files with 882 additions and 93 deletions
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iqpilot/selfdrive/iqmodeld/messaging.py
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@@ -248,16 +248,19 @@ def populate_drive_messages(primary_msg: capnp._DynamicStructBuilder, extended_m
def populate_odometry_message(msg: capnp._DynamicStructBuilder, outputs: dict[str, np.ndarray],
vipc_frame_id: int, vipc_dropped_frames: int,
timestamp_eof: int, live_calib_seen: bool) -> None:
msg.valid = live_calib_seen & (vipc_dropped_frames < 1)
pose = outputs["pose"][0, :6]
pose_stds = outputs["pose_stds"][0, :6]
pose_finite = bool(np.isfinite(pose).all() and np.isfinite(pose_stds).all())
msg.valid = live_calib_seen & (vipc_dropped_frames < 1) & pose_finite
odo = msg.cameraOdometry
odo.frameId = vipc_frame_id
odo.timestampEof = timestamp_eof
odo.trans = outputs["pose"][0, :3].tolist()
odo.rot = outputs["pose"][0, 3:].tolist()
odo.trans = pose[:3].tolist()
odo.rot = pose[3:6].tolist()
odo.wideFromDeviceEuler = outputs["wide_from_device_euler"][0, :].tolist()
odo.roadTransformTrans = outputs["road_transform"][0, :3].tolist()
odo.transStd = outputs["pose_stds"][0, :3].tolist()
odo.rotStd = outputs["pose_stds"][0, 3:].tolist()
odo.transStd = pose_stds[:3].tolist()
odo.rotStd = pose_stds[3:6].tolist()
odo.wideFromDeviceEulerStd = outputs["wide_from_device_euler_stds"][0, :].tolist()
odo.roadTransformTransStd = outputs["road_transform_stds"][0, :3].tolist()