From 81f6ebebaaeda467fd7a4552711cc1109b33ddd5 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Fri, 4 Nov 2022 01:32:29 -0700 Subject: [PATCH] [paramsd] Prevent low speed drifting (#26360) * lower active speed for paramsd observations * update refs --- selfdrive/locationd/paramsd.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 86672b0460..9bd4ed0837 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -92,7 +92,7 @@ class ParamsLearner: self.speed = msg.vEgo in_linear_region = abs(self.steering_angle) < 45 or not self.steering_pressed - self.active = self.speed > 5 and in_linear_region + self.active = self.speed > 1 and in_linear_region if self.active: self.kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, np.array([[math.radians(msg.steeringAngleDeg)]])) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 8eae3ce8b4..40f3c522de 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -6abe3ec1ee19710bdd89ce2882b9503d4aff8e7f +2ba23c5d1c4e0c34295d38f31ed35e3482608b16 \ No newline at end of file