From 91ae82c9ccefb83a28e1a537f62b71ca48f4fa92 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 26 Sep 2023 17:23:10 -0700 Subject: [PATCH] torqued: useParams field reflects if using torque control (#30059) fix useParams old-commit-hash: 61c5618f15a477d6aaa8dfaaf9803961db5081e6 --- 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 ddb95e944c..0b624d5790 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -114,7 +114,7 @@ class TorqueEstimator: self.offline_friction = 0.0 self.offline_latAccelFactor = 0.0 self.resets = 0.0 - self.use_params = CP.carName in ALLOWED_CARS + self.use_params = CP.carName in ALLOWED_CARS and CP.lateralTuning.which() == 'torque' if CP.lateralTuning.which() == 'torque': self.offline_friction = CP.lateralTuning.torque.friction