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Update paramsd.py

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infiniteCable2
2025-09-29 17:29:51 +02:00
committed by GitHub
parent bce767f442
commit 152a1e3cdd
1 changed files with 4 additions and 1 deletions
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selfdrive/locationd/paramsd.py
+4 -1
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@@ -26,12 +26,15 @@ LOW_ACTIVE_SPEED = 10.0
class VehicleParamsLearner:
def __init__(self, CP: car.CarParams, steer_ratio: float, stiffness_factor: float, angle_offset: float, P_initial: np.ndarray | None = None):
params = Params()
self.kf = CarKalman(GENERATED_DIR)
self.x_initial = CarKalman.initial_x.copy()
self.x_initial[States.STEER_RATIO] = steer_ratio
self.x_initial[States.STIFFNESS] = stiffness_factor
self.x_initial[States.ANGLE_OFFSET] = float(Params().get("AngleOffsetDegree") or angle_offset)
set_manual_angle_offset = params.get_bool("EnableAngleOffset")
manual_angle_offset = float(params.get("AngleOffsetDegree") or 0.0)
self.x_initial[States.ANGLE_OFFSET] = manual_angle_offset if set_manual_angle_offset else angle_offset
self.P_initial = P_initial if P_initial is not None else CarKalman.P_initial
self.kf.set_globals(