Remove redundant param

pull/34531/head
Kacper Rączy 7 months ago
parent b88bbdfa3f
commit 75939d9843
  1. 10
      selfdrive/locationd/torqued.py

@ -50,7 +50,7 @@ MOVING_CORR_WINDOW = 30
OVERLAP_FACTOR = 0.25
class LagEstimator(ParameterEstimator):
def __init__(self, CP, dt, min_hist_len_sec, max_hist_len_sec, max_lag_hist_len_sec, moving_corr_window, overlap_factor):
def __init__(self, CP, dt, min_hist_len_sec, max_lag_hist_len_sec, moving_corr_window, overlap_factor):
self.dt = dt
self.min_hist_len = int(min_hist_len_sec / self.dt)
self.window_len = int(moving_corr_window / self.dt)
@ -61,8 +61,8 @@ class LagEstimator(ParameterEstimator):
self.steering_pressed = False
self.v_ego = 0.0
self.lags = deque(maxlen= int(max_lag_hist_len_sec / (moving_corr_window * overlap_factor)))
self.curvature = deque(maxlen=int(max_hist_len_sec / self.dt))
self.desired_curvature = deque(maxlen=int(max_hist_len_sec / self.dt))
self.curvature = deque(maxlen=int(moving_corr_window / self.dt))
self.desired_curvature = deque(maxlen=int(moving_corr_window / self.dt))
self.frame = 0
def correlation_lags(self, sig_len, dt):
@ -102,7 +102,7 @@ class LagEstimator(ParameterEstimator):
if self.frame % int(self.window_len * OVERLAP_FACTOR) == 0:
_, curvature = zip(*self.curvature)
_, desired_curvature = zip(*self.desired_curvature)
delay_curvature, _ = self.actuator_delay(curvature[-self.window_len:], desired_curvature[-self.window_len:], self.dt)
delay_curvature, _ = self.actuator_delay(curvature, desired_curvature, self.dt)
if delay_curvature != 0.0:
self.lags.append(delay_curvature)
# FIXME: this is fragile and ugly, refactor this
@ -332,7 +332,7 @@ def main(demo=False):
CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
estimator = TorqueEstimator(CP)
lag_estimator = LagEstimator(CP, DT_MDL, MIN_HIST_LEN_SEC, MAX_HIST_LEN_SEC, MAX_LAG_HIST_LEN_SEC, MOVING_CORR_WINDOW, OVERLAP_FACTOR)
lag_estimator = LagEstimator(CP, DT_MDL, MIN_HIST_LEN_SEC, MAX_LAG_HIST_LEN_SEC, MOVING_CORR_WINDOW, OVERLAP_FACTOR)
while True:
sm.update()

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