From 75a3f5c123c9d71b2962391baaa33014df09835b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Fri, 4 Apr 2025 15:53:44 -0700 Subject: [PATCH] Read CarParams once from Params --- selfdrive/locationd/calibrationd.py | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 8ce884ae4f..e265b70f1a 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -11,7 +11,7 @@ import capnp import numpy as np from typing import NoReturn -from cereal import log +from cereal import log, car import cereal.messaging as messaging from openpilot.common.conversions import Conversions as CV from openpilot.common.params import Params @@ -258,16 +258,18 @@ def main() -> NoReturn: config_realtime_process([0, 1, 2, 3], 5) pm = messaging.PubMaster(['liveCalibration']) - sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll='cameraOdometry') + sm = messaging.SubMaster(['cameraOdometry', 'carState'], poll='cameraOdometry') + + params_reader = Params() + CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams) calibrator = Calibrator(param_put=True) + calibrator.not_car = CP.notCar while 1: timeout = 0 if sm.frame == -1 else 100 sm.update(timeout) - calibrator.not_car = sm['carParams'].notCar - if sm.updated['cameraOdometry']: calibrator.handle_v_ego(sm['carState'].vEgo) new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans,