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paramsd: invalid angle offset alert (#34715)

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* Add angle offset valid field

* Remove print

* Move it

* Add check in selfdrived

* Same thing for stiffnessFactor and steerRatio

* Fix

* Alert callback

* Fix bugs

* Fix

* Update events

* Make it functional

* Ref commit

* Update ref commit

* Remove dot

* Fix

Fix formatting

* Default values

* Update ref commit
This commit is contained in:
Kacper Rączy
2025-02-28 09:40:12 -08:00
committed by GitHub
parent d9bc9be388
commit 00a0547978
4 changed files with 34 additions and 7 deletions
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selfdrive/locationd/paramsd.py
+8 -4
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@@ -224,17 +224,21 @@ def main():
liveParameters.posenetValid = True
liveParameters.sensorValid = sensors_valid
liveParameters.steerRatio = float(x[States.STEER_RATIO].item())
liveParameters.steerRatioValid = min_sr <= liveParameters.steerRatio <= max_sr
liveParameters.stiffnessFactor = float(x[States.STIFFNESS].item())
liveParameters.stiffnessFactorValid = 0.2 <= liveParameters.stiffnessFactor <= 5.0
liveParameters.roll = float(roll)
liveParameters.angleOffsetAverageDeg = float(angle_offset_average)
liveParameters.angleOffsetAverageValid = bool(avg_offset_valid)
liveParameters.angleOffsetDeg = float(angle_offset)
liveParameters.angleOffsetValid = bool(total_offset_valid)
liveParameters.valid = all((
avg_offset_valid,
total_offset_valid,
liveParameters.angleOffsetAverageValid,
liveParameters.angleOffsetValid ,
roll_valid,
roll_std < ROLL_STD_MAX,
0.2 <= liveParameters.stiffnessFactor <= 5.0,
min_sr <= liveParameters.steerRatio <= max_sr,
liveParameters.stiffnessFactorValid,
liveParameters.steerRatioValid,
))
liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item())
liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item())