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offline test

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MoreTore
2025-05-13 22:28:29 -05:00
parent 4dbbcc96da
commit ea577b26de
1 changed files with 8 additions and 5 deletions
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selfdrive/locationd/torqued.py
+8 -5
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@@ -119,12 +119,15 @@ class TorqueEstimator(ParameterEstimator):
self.use_params |= CP.carFingerprint in ALLOWED_CARS
if CP.lateralTuning.which() == 'torque':
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
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
print(f"offline params: {self.offline_sigmoidSharpness=}, {self.offline_sigmoidTorqueGain=}, {self.offline_latAccelFactor=}, {self.offline_friction=}")
cloudlog.info(f"using params: {self.use_params=}, {CP.lateralTuning.which()=}, {CP.carFingerprint=}")
cloudlog.info(f"offline params: {self.offline_sigmoidSharpness=}, {self.offline_sigmoidTorqueGain=}, {self.offline_latAccelFactor=}, {self.offline_friction=}")
self.calibrator = PoseCalibrator()