From 3e1d13c70bd871d2d57fcb041d46134a5da54ccf Mon Sep 17 00:00:00 2001 From: MoreTore Date: Mon, 12 May 2025 22:59:48 -0500 Subject: [PATCH] live torque params --- opendbc_repo | 2 +- selfdrive/locationd/torqued.py | 6 ++++-- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index c54b8b85d..d288c25a4 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit c54b8b85d538af1c9d2a12894e46ff138fe6fa36 +Subproject commit d288c25a48c0b78557cf7b282f2408308d9167b6 diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 5ed86e457..26b4ebfa5 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -32,7 +32,8 @@ MIN_BUCKET_POINTS = np.array([100, 300, 500, 500, 500, 500, 300, 100]) MIN_ENGAGE_BUFFER = 2 # secs VERSION = 1 # bump this to invalidate old parameter caches -ALLOWED_CARS = ['toyota', 'hyundai', 'rivian'] +ALLOWED_BRANDS = ['toyota', 'hyundai', 'rivian'] +ALLOWED_CARS = ['MAZDA_3_2019'] def slope2rot(slope): @@ -71,7 +72,8 @@ class TorqueEstimator(ParameterEstimator): self.offline_friction = 0.0 self.offline_latAccelFactor = 0.0 self.resets = 0.0 - self.use_params = CP.brand in ALLOWED_CARS and CP.lateralTuning.which() == 'torque' + self.use_params = CP.brand in ALLOWED_BRANDS and CP.lateralTuning.which() == 'torque' + self.use_params |= CP.carFingerprint in ALLOWED_CARS if CP.lateralTuning.which() == 'torque': self.offline_friction = CP.lateralTuning.torque.friction