From 04dae8855cca25c082fb1b8c117f35d59a796903 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Mon, 24 Mar 2025 01:16:47 -0700 Subject: [PATCH] More blocks --- selfdrive/locationd/lagd.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py index e3bc12b1fc..c42d2738ce 100755 --- a/selfdrive/locationd/lagd.py +++ b/selfdrive/locationd/lagd.py @@ -69,7 +69,7 @@ class BlockAverage: class LagEstimator: - def __init__(self, CP, dt, block_count=5, block_size=100, window_sec=300.0, okay_window_sec=30.0, min_vego=15, min_yr=np.radians(1), min_ncc=0.95): + def __init__(self, CP, dt, block_count=10, block_size=100, window_sec=300.0, okay_window_sec=30.0, min_vego=15, min_yr=np.radians(1), min_ncc=0.95): self.dt = dt self.window_sec = window_sec self.okay_window_sec = okay_window_sec @@ -106,6 +106,7 @@ class LagEstimator: liveDelay.steerActuatorDelay = self.lag liveDelay.isEstimated = self.block_avg.valid_blocks > 0 liveDelay.validBlocks = self.block_avg.valid_blocks + liveDelay.points = self.block_avg.values.tolist() return msg