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Vehicles - Toyota - Cluster Offset

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FrogAi
2024-05-10 23:54:39 -07:00
parent 23479addbf
commit 3f23c327c5
1 changed files with 1 additions and 1 deletions
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selfdrive/car/toyota/carstate.py
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@@ -100,7 +100,7 @@ class CarState(CarStateBase):
)
ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.vEgoCluster = ret.vEgo * 1.015 # minimum of all the cars
ret.vEgoCluster = ret.vEgo * frogpilot_toggles.cluster_offset
ret.standstill = abs(ret.vEgoRaw) < 1e-3