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offline test

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MoreTore
2025-05-13 22:42:01 -05:00
parent ea577b26de
commit c66c8e2c70
1 changed files with 10 additions and 4 deletions
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selfdrive/locationd/torqued.py
+10 -4
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@@ -119,10 +119,16 @@ class TorqueEstimator(ParameterEstimator):
self.use_params |= CP.carFingerprint in ALLOWED_CARS
if CP.lateralTuning.which() == 'torque':
self.offline_friction = CP.lateralTuning.torque.friction = 0.3
self.offline_latAccelFactor = CP.lateralTuning.torque.latAccelFactor = 0.1
self.offline_sigmoidSharpness = CP.lateralTuning.torque.sigmoidSharpness = 3.8
self.offline_sigmoidTorqueGain = CP.lateralTuning.torque.sigmoidTorqueGain = 1.0
self.offline_friction = CP.lateralTuning.torque.friction
self.offline_latAccelFactor = CP.lateralTuning.torque.latAccelFactor
self.offline_sigmoidSharpness = CP.lateralTuning.torque.sigmoidSharpness
self.offline_sigmoidTorqueGain = CP.lateralTuning.torque.sigmoidTorqueGain
# override params for offline analysis
self.offline_sigmoidSharpness = 3.8
self.offline_sigmoidTorqueGain = 1.0
self.offline_latAccelFactor = 0.1
self.offline_friction = 0.33