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Update paramsd.py

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infiniteCable2
2025-09-29 17:39:16 +02:00
committed by GitHub
parent 192b5d85dd
commit 88aa62f934
1 changed files with 5 additions and 2 deletions
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selfdrive/locationd/paramsd.py
+5 -2
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@@ -19,6 +19,7 @@ ROLL_LOWERED_MAX = np.radians(8)
ROLL_STD_MAX = np.radians(1.5)
LATERAL_ACC_SENSOR_THRESHOLD = 4.0
OFFSET_MAX = 10.0
OFFSET_HIGHER_MAX = 20.0
OFFSET_LOWERED_MAX = 8.0
MIN_ACTIVE_SPEED = 1.0
LOW_ACTIVE_SPEED = 10.0
@@ -33,6 +34,7 @@ class VehicleParamsLearner:
self.x_initial[States.STEER_RATIO] = steer_ratio
self.x_initial[States.STIFFNESS] = stiffness_factor
set_manual_angle_offset = params.get_bool("EnableAngleOffset")
self.allow_higher_angle_offset = set_manual_angle_offset
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
@@ -153,8 +155,9 @@ class VehicleParamsLearner:
sensors_valid = bool(abs(self.observed_speed * (x[States.YAW_RATE].item() + self.observed_yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD)
else:
sensors_valid = True
self.avg_offset_valid = check_valid_with_hysteresis(self.avg_offset_valid, self.avg_angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX)
self.total_offset_valid = check_valid_with_hysteresis(self.total_offset_valid, self.angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX)
avg_angle_offset_max = OFFSET_HIGHER_MAX if self.allow_higher_angle_offset else OFFSET_MAX
self.avg_offset_valid = check_valid_with_hysteresis(self.avg_offset_valid, self.avg_angle_offset, avg_angle_offset_max, OFFSET_LOWERED_MAX)
self.total_offset_valid = check_valid_with_hysteresis(self.total_offset_valid, self.angle_offset, avg_angle_offset_max, OFFSET_LOWERED_MAX)
self.roll_valid = check_valid_with_hysteresis(self.roll_valid, self.roll, ROLL_MAX, ROLL_LOWERED_MAX)
msg = messaging.new_message('liveParameters')