IQ.Pilot Release Commit @ 0798119

selfdrive/locationd/calibration_helpers.py

@@ -0,0 +1,28 @@
+import math
+
+import numpy as np
+from cereal import log
+
+from openpilot.selfdrive.locationd.calibrationd import HEIGHT_INIT
+
+
+def get_calibrated_rpy(live_calib: log.LiveCalibrationData) -> np.ndarray | None:
+  if live_calib.calStatus != log.LiveCalibrationData.Status.calibrated:
+    return None
+
+  if len(live_calib.rpyCalib) != 3:
+    return None
+
+  calib_rpy = np.asarray(live_calib.rpyCalib, dtype=np.float32)
+  return calib_rpy if np.isfinite(calib_rpy).all() else None
+
+
+def get_render_path_height(live_calib: log.LiveCalibrationData) -> float:
+  if live_calib.calStatus != log.LiveCalibrationData.Status.calibrated:
+    return float(HEIGHT_INIT[0])
+
+  if len(live_calib.height) != 1:
+    return float(HEIGHT_INIT[0])
+
+  height = float(live_calib.height[0])
+  return height if math.isfinite(height) else float(HEIGHT_INIT[0])