From 817a8af6f15e2b931a2fdf3c839b1a05b847be6f Mon Sep 17 00:00:00 2001 From: infiniteCable2 Date: Fri, 26 Sep 2025 21:43:04 +0200 Subject: [PATCH] Update paramsd.py --- selfdrive/locationd/paramsd.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index b4084fe5b..77dbebcf9 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -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):