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format torqued.py

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old-commit-hash: 0c58e35b6c2294ef9ad149081a95739524fe74ae
This commit is contained in:
Shane Smiskol
2024-07-09 21:16:36 -07:00
parent d0e2572507
commit 49469d9ffa
1 changed files with 5 additions and 3 deletions
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selfdrive/locationd/torqued.py
+5 -3
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@@ -36,8 +36,8 @@ ALLOWED_CARS = ['toyota', 'hyundai']
def slope2rot(slope):
sin = np.sqrt(slope**2 / (slope**2 + 1))
cos = np.sqrt(1 / (slope**2 + 1))
sin = np.sqrt(slope ** 2 / (slope ** 2 + 1))
cos = np.sqrt(1 / (slope ** 2 + 1))
return np.array([[cos, -sin], [sin, cos]])
@@ -52,7 +52,7 @@ class TorqueBuckets(PointBuckets):
class TorqueEstimator(ParameterEstimator):
def __init__(self, CP, decimated=False):
self.hist_len = int(HISTORY / DT_MDL)
self.lag = CP.steerActuatorDelay + .2 # from controlsd
self.lag = CP.steerActuatorDelay + .2 # from controlsd
if decimated:
self.min_bucket_points = MIN_BUCKET_POINTS / 10
self.min_points_total = MIN_POINTS_TOTAL_QLOG
@@ -242,8 +242,10 @@ def main(demo=False):
msg = estimator.get_msg(valid=sm.all_checks(), with_points=True)
params.put_nonblocking("LiveTorqueParameters", msg.to_bytes())
if __name__ == "__main__":
import argparse
parser = argparse.ArgumentParser(description='Process the --demo argument.')
parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.')
args = parser.parse_args()