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locationd: Update outdated reference after cython removals #36837

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locationd: Update outdated reference after cython removals #36837

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69b362c
Update import references
mpurnell1 Dec 11, 2025
8e0bd3a
REMOVE LATER: Add modified rednose submodule
mpurnell1 Dec 11, 2025
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3 changes: 2 additions & 1 deletion .gitmodules
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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2 changes: 1 addition & 1 deletion rednose_repo
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Submodule rednose_repo updated 9 files
+5 −5 examples/kinematic_kf.py
+2 −2 examples/live_kf.py
+2 −2 examples/test_compare.py
+50 −5 examples/test_kinematic_kf.py
+2 −2 rednose/SConscript
+2 −0 rednose/helpers/__init__.py
+402 −0 rednose/helpers/ekf_sym_module.cc
+0 −195 rednose/helpers/ekf_sym_pyx.pyx
+3 −2 site_scons/site_tools/rednose_filter.py
4 changes: 2 additions & 2 deletions selfdrive/locationd/models/car_kf.py
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Expand Up @@ -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
Expand Down Expand Up @@ -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):
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4 changes: 2 additions & 2 deletions selfdrive/locationd/models/pose_kf.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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

Expand Down Expand Up @@ -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)


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