f97149e1b5
* fix routeinfo... * livePose -> liveLocationKalman * fix.. * for debug.. socketmaster * fix.. SCC track * fix.. carrotman * comfortBrake 2.5 -> 2.4 * fix.. * test gps debug * test gps * revert * test gps msg * test restart * ff * ff * ff * liveDelay(SAD), latSmoothSeconds (#158) * SAD default: 0 (use liveDelay)
21 lines
814 B
Python
21 lines
814 B
Python
from cereal import messaging
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LOCATION1 = (32.7174, -117.16277)
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LOCATION2 = (32.7558, -117.2037)
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LLK_DECIMATION = 10
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RENDER_FRAMES = 15
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DEFAULT_ITERATIONS = RENDER_FRAMES * LLK_DECIMATION
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def generate_liveLocationKalman(location=LOCATION1):
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msg = messaging.new_message('liveLocationKalman')
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msg.liveLocationKalman.positionGeodetic = {'value': [*location, 0], 'std': [0., 0., 0.], 'valid': True}
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msg.liveLocationKalman.positionECEF = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
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msg.liveLocationKalman.calibratedOrientationNED = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
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msg.liveLocationKalman.velocityCalibrated = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
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msg.liveLocationKalman.status = 'valid'
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msg.liveLocationKalman.gpsOK = True
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return msg
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