From 1ec99ddc6765f34bd686190a41fbc9015769f85e Mon Sep 17 00:00:00 2001 From: FrogAi <91348155+FrogAi@users.noreply.github.com> Date: Wed, 31 Jul 2024 19:56:47 -0700 Subject: [PATCH] FrogPilot community - Jyoung8607's params learner tweak Co-Authored-By: Jason Young <46612682+jyoung8607@users.noreply.github.com> --- selfdrive/locationd/paramsd.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 88ce7ebb5..137526d49 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -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)]]))