DM: compensate for non-calibrated pitch spread (#26348)

selfdrive/monitoring/driver_monitor.py

@@ -44,6 +44,7 @@ class DRIVER_MONITOR_SETTINGS():
     self._POSE_YAW_THRESHOLD_SLACK = 0.5042
     self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD
     self._PITCH_NATURAL_OFFSET = 0.029 # initial value before offset is learned
+    self._PITCH_NATURAL_THRESHOLD = 0.449
     self._YAW_NATURAL_OFFSET = 0.097 # initial value before offset is learned
     self._PITCH_MAX_OFFSET = 0.124
     self._PITCH_MIN_OFFSET = -0.0881
@@ -197,7 +198,7 @@ class DriverStatus():
                                                     self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET)
     pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit
     yaw_error = abs(yaw_error)
-    if pitch_error > self.settings._POSE_PITCH_THRESHOLD*self.pose.cfactor_pitch or \
+    if pitch_error > (self.settings._POSE_PITCH_THRESHOLD*self.pose.cfactor_pitch if self.pose_calibrated else self.settings._PITCH_NATURAL_THRESHOLD) or \
        yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw:
       distracted_types.append(DistractedType.DISTRACTED_POSE)
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-89641653a0fc765105dc1c6a2a995cba2fb3f344
+24a8d02b148b7f6d20f641d56a7bed71c244b6e3