Acceletometer, Gyroscope timing spikes

commaai / openpilot

openpilot is an operating system for robotics. Currently, it upgrades the driver assistance system in 275+ supported cars.

https://comma.ai/openpilot

MIT License

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Acceletometer, Gyroscope timing spikes #30070

Open nuwandavek opened 11 months ago

nuwandavek commented 11 months ago

Describe the bug

There are random spikes in diff(logMonoTime) for the accelerometer and gyroscope. This can cause them to be fail the sm.allAliveAndValid or sm.AllAlive checks sometimes.

Provide a route where the issue occurs

4c00c8dba800b92b|2023-09-25--22-15-33/201

openpilot version

0.9.5

Additional info

No response

devtekve commented 11 months ago

oh yeah, I've experienced this on a C3X device, not sure if C3 are the same

adeebshihadeh commented 7 months ago

@nuwandavek I think I know what this is; can you do a quick check to see if there's a difference between C3 and 3X?

adeebshihadeh commented 1 week ago

Bounty is for fixing the timings of gyroscope and accelerometer.

Requirements for the bounty

over a few hours of onroad time, max diff of both services is <20ms (2x expected)
add a timings check for both services to test_onroad