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Update torqued.py

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MoreTorque
2025-05-21 13:18:25 -05:00
committed by GitHub
parent f93b24d0da
commit abab6037cb
1 changed files with 2 additions and 5 deletions
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selfdrive/locationd/torqued.py
+2 -5
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@@ -47,9 +47,7 @@ MIN_BUCKET_POINTS = np.array([
MIN_ENGAGE_BUFFER = 2 # secs
VERSION = 2 # bump this to invalidate old parameter caches
ALLOWED_BRANDS = ['toyota', 'hyundai']
ALLOWED_CARS = ['MAZDA_3_2019']
ALLOWED_CARS = ['toyota', 'hyundai', 'mazda']
def sig_centered(z):
pos = 1.0 / (1.0 + np.exp(-z)) - 0.5
@@ -117,8 +115,7 @@ class TorqueEstimator(ParameterEstimator):
self.offline_sigmoidTorqueGain = 0.0
self.resets = 0.0
self.use_params = CP.brand in ALLOWED_BRANDS and CP.lateralTuning.which() == 'torque'
self.use_params |= CP.carFingerprint in ALLOWED_CARS
self.use_params = CP.carName in ALLOWED_CARS and CP.lateralTuning.which() == 'torque'
if CP.lateralTuning.which() == 'torque':
self.offline_friction = CP.lateralTuning.torque.friction