From 612d97cfdbae347394dc7f3e80139eea7b3a52ad Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 7 Aug 2026 14:56:18 -0700 Subject: [PATCH] paramsd: don't learn in reverse gear (#38573) --- openpilot/selfdrive/locationd/paramsd.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/openpilot/selfdrive/locationd/paramsd.py b/openpilot/selfdrive/locationd/paramsd.py index c1088a8180..9b5ff7143e 100755 --- a/openpilot/selfdrive/locationd/paramsd.py +++ b/openpilot/selfdrive/locationd/paramsd.py @@ -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)]]))