From 86dfd0d24a1833bbe4e33b11effe82cdca3bfc9c Mon Sep 17 00:00:00 2001
From: infiniteCable <75014343+infiniteCable@users.noreply.github.com>
Date: Sat, 27 Sep 2025 23:31:59 +0200
Subject: [PATCH] Update paramsd.py

---
 selfdrive/locationd/paramsd.py | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index fdf76d1c5..84656129b 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -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):