Tici DM (#21699)

* 3d4 fallback

* update thresholds
old-commit-hash: 751b1cbc53

selfdrive/monitoring/driver_monitor.py

@@ -3,6 +3,7 @@ from math import atan2, sqrt
 from cereal import car
 from common.numpy_fast import interp
 from common.realtime import DT_DMON
+from selfdrive.hardware import TICI
 from common.filter_simple import FirstOrderFilter
 from common.stat_live import RunningStatFilter
 
@@ -22,19 +23,19 @@ _DISTRACTED_PRE_TIME_TILL_TERMINAL = 8.
 _DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
 
 _FACE_THRESHOLD = 0.5
-_PARTIAL_FACE_THRESHOLD = 0.5
+_PARTIAL_FACE_THRESHOLD = 0.75 if TICI else 0.5
 _EYE_THRESHOLD = 0.5
 _SG_THRESHOLD = 0.5
-_BLINK_THRESHOLD = 0.5
-_BLINK_THRESHOLD_SLACK = 0.65
-_BLINK_THRESHOLD_STRICT = 0.5
-_PITCH_WEIGHT = 1.35  # pitch matters a lot more
-_POSESTD_THRESHOLD = 0.14
-_E2E_POSE_THRESHOLD = 0.9
+_BLINK_THRESHOLD = 0.88 if TICI else 0.5
+_BLINK_THRESHOLD_SLACK = 0.98 if TICI else 0.65
+_BLINK_THRESHOLD_STRICT = 0.88 if TICI else 0.5
+_PITCH_WEIGHT = 1.175 if TICI else 1.35  # pitch matters a lot more
+_POSESTD_THRESHOLD = 0.318 if TICI else 0.14
+_E2E_POSE_THRESHOLD = 0.95 if TICI else 0.9
 _E2E_EYES_THRESHOLD = 0.75
-_METRIC_THRESHOLD = 0.4
-_METRIC_THRESHOLD_SLACK = 0.55
-_METRIC_THRESHOLD_STRICT = 0.4
+_METRIC_THRESHOLD = 0.5 if TICI else 0.4
+_METRIC_THRESHOLD_SLACK = 0.6875 if TICI else 0.55
+_METRIC_THRESHOLD_STRICT = 0.5 if TICI else 0.4
 _PITCH_POS_ALLOWANCE = 0.12  # rad, to not be too sensitive on positive pitch
 _PITCH_NATURAL_OFFSET = 0.02  # people don't seem to look straight when they drive relaxed, rather a bit up
 _YAW_NATURAL_OFFSET = 0.08  # people don't seem to look straight when they drive relaxed, rather a bit to the right (center of car)