mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-08-21 08:14:00 +08:00
Code Issues Packages Projects Releases Wiki Activity

paramsd: remove usages of llk nested structures (#33317)

Browse Source 
* Remove usages of llk nested structures

* Rename to debugFitlerState

* Semicolon

* Initial parameters debugFilterState
old-commit-hash: 51fae363e4f794ced50c3dd00e712aefb5d68a23
This commit is contained in:
Kacper Rączy
2024-08-16 14:25:42 -07:00
committed by GitHub
parent 11986ddc7f
commit 8315623257
2 changed files with 11 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/locationd/paramsd.py
+4 -5
View File
@@ -177,7 +177,7 @@ def main():
pInitial = None
if DEBUG:
pInitial = np.array(params['filterState']['std']) if 'filterState' in params else None
pInitial = np.array(params['debugFilterState']['std']) if 'debugFilterState' in params else None
learner = ParamsLearner(CP, params['steerRatio'], params['stiffnessFactor'], math.radians(params['angleOffsetAverageDeg']), pInitial)
angle_offset_average = params['angleOffsetAverageDeg']
@@ -242,10 +242,9 @@ def main():
liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET].item())
liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST].item())
if DEBUG:
liveParameters.filterState = log.LiveLocationKalman.Measurement.new_message()
liveParameters.filterState.value = x.tolist()
liveParameters.filterState.std = P.tolist()
liveParameters.filterState.valid = True
liveParameters.debugFilterState = log.LiveParametersData.FilterState.new_message()
liveParameters.debugFilterState.value = x.tolist()
liveParameters.debugFilterState.std = P.tolist()
msg.valid = sm.all_checks()