From ea577b26ded9ea5380d1707821ae6b31a2084a3a Mon Sep 17 00:00:00 2001 From: MoreTore Date: Tue, 13 May 2025 22:28:29 -0500 Subject: [PATCH] offline test --- selfdrive/locationd/torqued.py | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 1a25176d9..2890868a5 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -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()