torqued: useParams field reflects if using torque control (#30059)

fix useParams
2 years ago · 61c5618f15
parent f18d66fa3e
commit 61c5618f15
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@ -114,7 +114,7 @@ class TorqueEstimator:
    self.offline_friction = 0.0
    self.offline_latAccelFactor = 0.0
    self.resets = 0.0
-    self.use_params = CP.carName in ALLOWED_CARS
+    self.use_params = CP.carName in ALLOWED_CARS and CP.lateralTuning.which() == 'torque'

    if CP.lateralTuning.which() == 'torque':
      self.offline_friction = CP.lateralTuning.torque.friction