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Update paramsd.py

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infiniteCable
2025-09-27 23:31:59 +02:00
committed by GitHub
parent 234cd24a95
commit 86dfd0d24a
1 changed files with 1 additions and 4 deletions
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selfdrive/locationd/paramsd.py
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@@ -31,7 +31,7 @@ class VehicleParamsLearner:
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] = angle_offset
self.x_initial[States.ANGLE_OFFSET] = float(Params().get("AngleOffsetDegree") or angle_offset)
self.P_initial = P_initial if P_initial is not None else CarKalman.P_initial
self.kf.set_globals(
@@ -55,15 +55,12 @@ 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):