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firestar5683
cf21c9729f
Integrate Honda steering and AOL adapters with platform-specific native safety coverage. Co-authored-by: Daniel Koepping <elkoled@gmail.com> Co-authored-by: Danny <dannyirwin31@yahoo.com> Co-authored-by: dirwin31 <83434411+dirwin31@users.noreply.github.com>
29 lines
985 B
Python
29 lines
985 B
Python
import math
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class BoschLearningParams:
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def __init__(self, params, owner):
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self.params = params
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self.owner = owner
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factors = []
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for key in ("HondaGasFactorParams", "HondaWindFactorParams"):
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try:
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value = float(params.get(key, return_default=True))
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if not math.isfinite(value):
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value = 1.0
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except (TypeError, ValueError, OverflowError, RuntimeError):
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value = 1.0
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factors.append(value)
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owner.set_factors(*factors)
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self.saved = (owner.bosch_gas_factor, owner.bosch_wind_factor)
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def persist(self, frame):
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if frame > 0 and frame % 6000 == 0:
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# Learning only moves while openpilot drives the pedals; skip rewriting unchanged values.
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factors = (self.owner.bosch_gas_factor, self.owner.bosch_wind_factor)
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if factors == self.saved:
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return
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self.params.put("HondaGasFactorParams", factors[0])
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self.params.put("HondaWindFactorParams", factors[1])
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self.saved = factors
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