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Update paramsd.py

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infiniteCable2
2025-09-26 21:43:04 +02:00
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parent 6459de5590
commit 817a8af6f1
1 changed files with 3 additions and 0 deletions
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selfdrive/locationd/paramsd.py
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@@ -55,12 +55,15 @@ class VehicleParamsLearner:
self.total_offset_valid = True
self.roll_valid = True
self.manual_steer_offset = float(params.get("AngleOffsetDegree") or 0.0)
self.reset(None)
def reset(self, t: float | None):
self.kf.init_state(self.x_initial, covs=self.P_initial, filter_time=t)
self.angle_offset, self.roll, self.active = np.degrees(self.x_initial[States.ANGLE_OFFSET].item()), 0.0, False
self.angle_offset = self.angle_offset + self.manual_steer_offset
self.avg_angle_offset = self.angle_offset
def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader):