From 69b362c1ddcd77845976ef30fbae8b4a6c0effb7 Mon Sep 17 00:00:00 2001 From: Matt Purnell Date: Thu, 11 Dec 2025 09:56:16 -0600 Subject: [PATCH 1/2] Update import references --- selfdrive/locationd/models/car_kf.py | 4 ++-- selfdrive/locationd/models/pose_kf.py | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py index 27cc4ef9c93fc5..0718e75f17d9ee 100755 --- a/selfdrive/locationd/models/car_kf.py +++ b/selfdrive/locationd/models/car_kf.py @@ -15,7 +15,7 @@ import sympy as sp from rednose.helpers.ekf_sym import gen_code else: - from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx + from rednose.helpers import EKFSym i = 0 @@ -163,7 +163,7 @@ def generate_code(generated_dir): def __init__(self, generated_dir): dim_state, dim_state_err = CarKalman.initial_x.shape[0], CarKalman.P_initial.shape[0] - self.filter = EKF_sym_pyx(generated_dir, CarKalman.name, CarKalman.Q, CarKalman.initial_x, CarKalman.P_initial, + self.filter = EKFSym(generated_dir, CarKalman.name, CarKalman.Q, CarKalman.initial_x, CarKalman.P_initial, dim_state, dim_state_err, global_vars=CarKalman.global_vars, logger=cloudlog) def set_globals(self, mass, rotational_inertia, center_to_front, center_to_rear, stiffness_front, stiffness_rear): diff --git a/selfdrive/locationd/models/pose_kf.py b/selfdrive/locationd/models/pose_kf.py index 020e51ad6e50a4..ac4bf566eafef8 100755 --- a/selfdrive/locationd/models/pose_kf.py +++ b/selfdrive/locationd/models/pose_kf.py @@ -12,7 +12,7 @@ from rednose.helpers.ekf_sym import gen_code from rednose.helpers.sympy_helpers import euler_rotate, rot_to_euler else: - from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx + from rednose.helpers import EKFSym EARTH_G = 9.81 @@ -102,7 +102,7 @@ def generate_code(generated_dir): def __init__(self, generated_dir, max_rewind_age): dim_state, dim_state_err = PoseKalman.initial_x.shape[0], PoseKalman.initial_P.shape[0] - self.filter = EKF_sym_pyx(generated_dir, self.name, PoseKalman.Q, PoseKalman.initial_x, PoseKalman.initial_P, + self.filter = EKFSym(generated_dir, self.name, PoseKalman.Q, PoseKalman.initial_x, PoseKalman.initial_P, dim_state, dim_state_err, max_rewind_age=max_rewind_age) From 8e0bd3ad7dd93558f018791a618fc0a7c40bd880 Mon Sep 17 00:00:00 2001 From: Matt Purnell Date: Thu, 11 Dec 2025 09:14:08 -0600 Subject: [PATCH 2/2] REMOVE LATER: Add modified rednose submodule --- .gitmodules | 3 ++- rednose_repo | 2 +- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/.gitmodules b/.gitmodules index ad6530de9ac910..01e9216201b399 100644 --- a/.gitmodules +++ b/.gitmodules @@ -9,7 +9,8 @@ url = ../../commaai/msgq.git [submodule "rednose_repo"] path = rednose_repo - url = ../../commaai/rednose.git + url = ../../mpurnell1/rednose.git + branch = remove-ekf-cython [submodule "teleoprtc_repo"] path = teleoprtc_repo url = ../../commaai/teleoprtc diff --git a/rednose_repo b/rednose_repo index 7fddc8e6d49def..1a5d6e49c43b11 160000 --- a/rednose_repo +++ b/rednose_repo @@ -1 +1 @@ -Subproject commit 7fddc8e6d49def83c952a78673179bdc62789214 +Subproject commit 1a5d6e49c43b1182ff98bc2a2096258d77d5dd14