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FrogPilot community - Jyoung8607's params learner tweak

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Co-Authored-By: Jason Young <46612682+jyoung8607@users.noreply.github.com>
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FrogAi
2024-07-31 19:56:47 -07:00
parent c4b39e8775
commit 1ec99ddc67
1 changed files with 2 additions and 1 deletions
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selfdrive/locationd/paramsd.py
+2 -1
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@@ -96,8 +96,9 @@ class ParamsLearner:
self.steering_angle = msg.steeringAngleDeg
self.speed = msg.vEgo
complex_dynamics = abs(msg.aEgo) > 1.0 or abs(msg.steeringRateDeg) > 20
in_linear_region = abs(self.steering_angle) < 45
self.active = self.speed > MIN_ACTIVE_SPEED and in_linear_region
self.active = self.speed > MIN_ACTIVE_SPEED and in_linear_region and not complex_dynamics
if self.active:
self.kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, np.array([[math.radians(msg.steeringAngleDeg)]]))