Max not min

5 months ago · 69eca2769e
parent 2ed6f9bfa9
commit 69eca2769e
1 changed files with 1 additions and 1 deletions
--- 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