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IQ.Pilot Release Commit @ 717ce45

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IQ.Lvbs CI [bot]
2026-09-02 15:53:36 -05:00
parent 43ee82d228
commit 4fb3da761f
11 changed files with 230 additions and 95 deletions
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7
iqpilot/selfdrive/iqlocd/atlas_loc_core.cc
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@@ -734,6 +734,13 @@ int AtlasLocator::run() {
const std::initializer_list<const char *> service_list = {gps_location_socket, "cameraOdometry", "extrinsicsCalibration",
"carState", "accelerometer", "gyroscope"};
for (const char *service : service_list) {
if (!messaging_has_service(service)) {
LOGE("service '%s' is missing from the compiled service registry %s: stale build, rebuild required", service, messaging_registry_tag());
return 2;
}
}
SubMaster sm(service_list, {}, nullptr, {gps_location_socket});
PubMaster pm({"iqLiveLocation"});

13
iqpilot/selfdrive/iqlocd/tests/test_iqlocd.py
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@@ -128,12 +128,13 @@ class TestIQLocdProc:
if case in ("odometry_short", "odometry_empty", "odometry_nan", "odometry_nan_std"):
msg = messaging.new_message("cameraOdometry")
odo = msg.cameraOdometry
if case == "odometry_short":
odo.rot = [0.0] * 6; odo.trans = [0.0] * 6; odo.rotStd = [0.01] * 6; odo.transStd = [0.01] * 6
elif case == "odometry_nan":
odo.rot = [float("nan"), 0.0, 0.0]; odo.trans = [0.0] * 3; odo.rotStd = [0.01] * 3; odo.transStd = [0.01] * 3
elif case == "odometry_nan_std":
odo.rot = [0.0] * 3; odo.trans = [0.0] * 3; odo.rotStd = [float("nan"), 0.01, 0.01]; odo.transStd = [0.01] * 3
shapes = {
"odometry_short": ([0.0] * 6, [0.0] * 6, [0.01] * 6, [0.01] * 6),
"odometry_nan": ([float("nan"), 0.0, 0.0], [0.0] * 3, [0.01] * 3, [0.01] * 3),
"odometry_nan_std": ([0.0] * 3, [0.0] * 3, [float("nan"), 0.01, 0.01], [0.01] * 3),
}
if case in shapes:
odo.rot, odo.trans, odo.rotStd, odo.transStd = shapes[case]
elif case in ("calibration_short", "calibration_nan"):
msg = messaging.new_message("extrinsicsCalibration")
msg.extrinsicsCalibration.calStatus = "calibrated"