openpilot
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qcomgpsd: set horizontal accuracy
Description
qcomgpsd.py was not setting accuracy
parameter that is present in capnp and so it was always 0.
accuracy = 0,
verticalAccuracy = 1.3863411,
bearingAccuracyDeg = 83.561844,
Verification I can see plausible accuracy value.
accuracy = 0.79913158,
verticalAccuracy = 1.3863411,
bearingAccuracyDeg = 83.561844,
Btw, there are two types of accuracy values that could be used here: PDOP and HDOP.
I would use PDOP, but since there is no separate horizontalAccuracy
in capnp, I chose HDOP.
(This also matches ublox which also uses horizontal accuracy for the accuracy
).
@haraschax I assume there's a reason we didn't do this?
In any case, we'd have to validate this output before merging and make sure the locationd tuning is still valid.
No reason we didn't do this. Just didn't notice that accuracy was supposed to mean horizontalAccuracy. I made a PR to rename. @dzid26 If you send me a couple routes with this change, I can get the correct to modify locationd, so your PR can be merged.
https://github.com/commaai/openpilot/pull/31629
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@haraschax still interested in logging HDOP or wanna change the signals entirely?
I can send some routes here. I’m interested in seeing this merged.
A couple of routes with this change:
b387d7bf0f78af1b/00000022--2c92057f4b
b387d7bf0f78af1b/0000001a--c9c3300b1c
b387d7bf0f78af1b/00000019--1f18b856bb
The branch I used includes the rename: https://github.com/andiradulescu/openpilot/commit/29639c875727f1fc06e1141b131d6cc15db2cb77