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lagd: lower max lag (#38307)

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* Max lag 0.6

* Fix tests

* 650ms
This commit is contained in:
Kacper Rączy
2026-07-15 02:17:30 +00:00
committed by GitHub
parent d1e143ac98
commit c16039e0bc
2 changed files with 8 additions and 7 deletions
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openpilot/selfdrive/locationd/lagd.py
+1 -1
View File
@@ -25,7 +25,7 @@ MIN_VEGO = 50.0 * CV.MPH_TO_MS
MIN_ABS_YAW_RATE = 0.0
MAX_YAW_RATE_SANITY_CHECK = 1.0
MIN_NCC = 0.95
MAX_LAG = 1.0
MAX_LAG = 0.65
MIN_LAG = 0.15
MAX_LAG_STD = 0.1
MAX_LAT_ACCEL = 2.0
openpilot/selfdrive/locationd/test/test_lagd.py
+7 -6
View File
@@ -6,7 +6,7 @@ import pytest
from openpilot.cereal import messaging, log
from opendbc.car.structs import car
from openpilot.selfdrive.locationd.lagd import LateralLagEstimator, retrieve_initial_lag, masked_normalized_cross_correlation, \
BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC, VERSION
BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC, VERSION, MIN_LAG, MAX_LAG
from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams
from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE
from openpilot.common.params import Params
@@ -15,6 +15,7 @@ from openpilot.common.hardware import PC
MAX_ERR_FRAMES = 1
DT = 0.05
LAGD_MIN_LAG_FRAMES, LAGD_MAX_LAG_FRAMES = int(round(MIN_LAG / DT)), int(round(MAX_LAG / DT))
def process_messages(estimator, lag_frames, n_frames, vego=25.0, rejection_threshold=0.0):
@@ -103,7 +104,7 @@ class TestLagd:
assert np.argmax(corr) in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
def test_empty_estimator(self):
mocked_CP = car.CarParams(steerActuatorDelay=0.8)
mocked_CP = car.CarParams(steerActuatorDelay=0.5)
estimator = LateralLagEstimator(mocked_CP, DT)
msg = estimator.get_msg(True)
assert msg.liveDelay.status == 'unestimated'
@@ -113,9 +114,9 @@ class TestLagd:
assert msg.liveDelay.calPerc == 0
def test_estimator_basics(self, subtests):
for lag_frames in range(3, 10):
for lag_frames in range(LAGD_MIN_LAG_FRAMES, LAGD_MAX_LAG_FRAMES - 1):
with subtests.test(msg=f"lag_frames={lag_frames}"):
mocked_CP = car.CarParams(steerActuatorDelay=0.8)
mocked_CP = car.CarParams(steerActuatorDelay=0.5)
estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0)
process_messages(estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE)
msg = estimator.get_msg(True)
@@ -127,7 +128,7 @@ class TestLagd:
assert msg.liveDelay.calPerc == 100
def test_estimator_masking(self):
mocked_CP, lag_frames = car.CarParams(steerActuatorDelay=0.8), random.randint(3, 19)
mocked_CP, lag_frames = car.CarParams(steerActuatorDelay=0.5), random.randint(LAGD_MIN_LAG_FRAMES, LAGD_MAX_LAG_FRAMES - 1)
estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, min_valid_block_count=1)
process_messages(estimator, lag_frames, (int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_SIZE) * 2, rejection_threshold=0.4)
msg = estimator.get_msg(True)
@@ -137,7 +138,7 @@ class TestLagd:
@pytest.mark.skipif(PC, reason="only on device")
def test_estimator_performance(self):
mocked_CP = car.CarParams(steerActuatorDelay=0.8)
mocked_CP = car.CarParams(steerActuatorDelay=0.5)
estimator = LateralLagEstimator(mocked_CP, DT)
ds = []