33 lines
982 B
Python
33 lines
982 B
Python
import math
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import numpy as np
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from iqpilot.cereal import log
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from iqpilot.selfdrive.locationd.calibrationd import HEIGHT_INIT, HEIGHT_SANE_MIN, HEIGHT_SANE_MAX
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def get_calibrated_rpy(live_calib: log.ExtrinsicsCalibration) -> np.ndarray | None:
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if live_calib.calStatus != log.ExtrinsicsCalibration.Status.calibrated:
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return None
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if len(live_calib.rpyCalib) != 3:
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return None
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calib_rpy = np.asarray(live_calib.rpyCalib, dtype=np.float32)
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return calib_rpy if np.isfinite(calib_rpy).all() else None
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def get_render_path_height(live_calib: log.ExtrinsicsCalibration) -> float:
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if live_calib.calStatus != log.ExtrinsicsCalibration.Status.calibrated:
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return float(HEIGHT_INIT[0])
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if len(live_calib.height) != 1:
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return float(HEIGHT_INIT[0])
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height = float(live_calib.height[0])
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if not math.isfinite(height):
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return float(HEIGHT_INIT[0])
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if not (HEIGHT_SANE_MIN <= height <= HEIGHT_SANE_MAX):
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return float(HEIGHT_INIT[0])
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return height
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