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herizon

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herizon1054
2026-03-21 01:53:19 +08:00
parent 5a463fb652
commit 53d308d7a4
62 changed files with 2767 additions and 17751 deletions
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9
common/params_keys.h
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@@ -169,4 +169,13 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"dp_vag_pq_steering_patch", {PERSISTENT, BOOL, "0"}},
{"dp_vag_avoid_eps_lockout", {PERSISTENT, BOOL, "0"}},
{"dp_honda_nidec_stock_long", {PERSISTENT, BOOL, "0"}},
{"dp_htd_enabled", {PERSISTENT, BOOL, "1"}},
{"dp_htd_turn_angle_threshold", {PERSISTENT, INT, "90"}},
{"dp_htd_turn_angle_release_deg", {PERSISTENT, FLOAT, "8.0"}},
{"dp_htd_torque_start_nm", {PERSISTENT, FLOAT, "1.2"}},
{"dp_htd_torque_release_nm", {PERSISTENT, FLOAT, "0.6"}},
{"dp_htd_recovery_delay", {PERSISTENT, FLOAT, "1.0"}},
{"DynamicFollow", {PERSISTENT, BOOL, "1"}},
{"AccelPersonality", {PERSISTENT, INT, std::to_string(static_cast<int>(cereal::LongitudinalPlanDP::AccelerationPersonality::NORMAL))}},
{"AccelPersonalityEnabled", {PERSISTENT, BOOL, "1"}},
};

3
common/transformations/camera.py
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@@ -67,7 +67,7 @@ DEVICE_CAMERAS = {
# simulator (emulates a tici)
("pc", "unknown"): _ar_ox_config,
}
prods = itertools.product(('tici', 'tizi', 'mici'), (('ar0231', _ar_ox_config), ('ox03c10', _ar_ox_config), ('os04c10', _os_config)))
prods = itertools.product(('tici', 'tizi', 'mici', 'pc'), (('ar0231', _ar_ox_config), ('ox03c10', _ar_ox_config), ('os04c10', _os_config)))
DEVICE_CAMERAS.update({(d, c[0]): c[1] for d, c in prods})
# device/mesh : x->forward, y-> right, z->down
@@ -176,4 +176,3 @@ def img_from_device(pt_device):
pt_img = pt_view/pt_view[:, 2:3]
return pt_img.reshape(input_shape)[:, :2]