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paramsd: don't learn in reverse gear (#38573)

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This commit is contained in:
Adeeb Shihadeh
2026-08-07 14:56:18 -07:00
committed by GitHub
parent edd938105e
commit 612d97cfdb
1 changed files with 1 additions and 1 deletions
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openpilot/selfdrive/locationd/paramsd.py
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@@ -121,7 +121,7 @@ class VehicleParamsLearner:
in_linear_region = abs(steering_angle) < 45
self.observed_speed = msg.vEgo
self.active = self.observed_speed > MIN_ACTIVE_SPEED and in_linear_region
self.active = self.observed_speed > MIN_ACTIVE_SPEED and in_linear_region and msg.gearShifter != car.CarState.GearShifter.reverse
if self.active:
self.kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, np.array([[np.radians(steering_angle)]]))