Controls - Model Management

Manage openpilot's driving models.

selfdrive/locationd/calibrationd.py

@@ -72,7 +72,10 @@ class Calibrator:
 
     # Read saved calibration
     self.params = Params()
-    calibration_params = self.params.get("CalibrationParams")
+    if self.params.check_key(self.frogpilot_toggles.part_model_param + "CalibrationParams"):
+      calibration_params = self.params.get(self.frogpilot_toggles.part_model_param + "CalibrationParams")
+    else:
+      calibration_params = self.params.get("CalibrationParams")
     rpy_init = RPY_INIT
     wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT
     height = HEIGHT_INIT
@@ -171,7 +174,7 @@ class Calibrator:
 
     write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5)
     if self.param_put and write_this_cycle:
-      self.params.put_nonblocking("CalibrationParams", self.get_msg(True).to_bytes())
+      self.params.put_nonblocking(self.frogpilot_toggles.part_model_param + "CalibrationParams", self.get_msg(True).to_bytes())
 
     # Update FrogPilot parameters
     if FrogPilotVariables.toggles_updated:

selfdrive/locationd/torqued.py

@@ -100,7 +100,10 @@ class TorqueEstimator(ParameterEstimator):
     # try to restore cached params
     params = Params()
     params_cache = params.get("CarParamsPrevRoute")
-    torque_cache = params.get("LiveTorqueParameters")
+    if params.check_key(self.frogpilot_toggles.part_model_param + "LiveTorqueParameters"):
+      torque_cache = params.get(self.frogpilot_toggles.part_model_param + "LiveTorqueParameters")
+    else:
+      torque_cache = params.get("LiveTorqueParameters")
     if params_cache is not None and torque_cache is not None:
       try:
         with log.Event.from_bytes(torque_cache) as log_evt:
@@ -120,7 +123,7 @@ class TorqueEstimator(ParameterEstimator):
           cloudlog.info("restored torque params from cache")
       except Exception:
         cloudlog.exception("failed to restore cached torque params")
-        params.remove("LiveTorqueParameters")
+        params.remove(self.frogpilot_toggles.part_model_param + "LiveTorqueParameters")
 
     self.filtered_params = {}
     for param in initial_params:
@@ -258,7 +261,7 @@ def main(demo=False):
     # Cache points every 60 seconds while onroad
     if sm.frame % 240 == 0:
       msg = estimator.get_msg(valid=sm.all_checks(), with_points=True)
-      params.put_nonblocking("LiveTorqueParameters", msg.to_bytes())
+      params.put_nonblocking(frogpilot_toggles.part_model_param + "LiveTorqueParameters", msg.to_bytes())
 
 if __name__ == "__main__":
   import argparse