From 69eca2769e74de2a282a9e259e2e48a5625ea5d6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Tue, 4 Feb 2025 20:04:58 -0800 Subject: [PATCH] Max not min --- selfdrive/locationd/torqued.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 7e06e57cc6..9fd5be93fd 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -48,7 +48,7 @@ MIN_LAG_VEL = 15.0 class LagEstimator(ParameterEstimator): def __init__(self, CP): - self.hist_len = int(MIN_HIST_LEN_SEC / DT_MDL) + self.hist_len = int(MAX_HIST_LEN_SEC / DT_MDL) self.min_hist_len = int(MIN_HIST_LEN_SEC / DT_MDL) self.initial_lag = -CP.steerActuatorDelay self.current_lag = self.initial_lag