FrogPilot base

selfdrive/locationd/lagd.py

@@ -374,6 +374,8 @@ def main():
     lag, valid_blocks = initial_lag_params
     lag_learner.reset(lag, valid_blocks)
 
+  # FrogPilot variables
+
   while True:
     sm.update()
     if sm.all_checks():
@@ -392,3 +394,5 @@ def main():
 
       if sm.frame % 1200 == 0: # cache every 60 seconds
         params.put_nonblocking("LiveDelay", lag_msg_dat)
+
+    # FrogPilot variables

selfdrive/locationd/paramsd.py

@@ -283,6 +283,8 @@ def main():
   steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params, CP, REPLAY, DEBUG)
   learner = VehicleParamsLearner(CP, steer_ratio, stiffness_factor, np.radians(angle_offset_deg), pInitial)
 
+  # FrogPilot variables
+
   while True:
     sm.update()
     if sm.all_checks():
@@ -300,6 +302,8 @@ def main():
 
       pm.send('liveParameters', msg_dat)
 
+    # FrogPilot variables
+
 
 if __name__ == "__main__":
   main()

selfdrive/locationd/torqued.py

@@ -251,6 +251,8 @@ def main(demo=False):
   params = Params()
   estimator = TorqueEstimator(messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams))
 
+  # FrogPilot variables
+
   while True:
     sm.update()
     if sm.all_checks():
@@ -268,6 +270,8 @@ def main(demo=False):
       msg = estimator.get_msg(valid=sm.all_checks(), with_points=True)
       params.put_nonblocking("LiveTorqueParameters", msg.to_bytes())
 
+    # FrogPilot variables
+
 
 if __name__ == "__main__":
   import argparse