From a6b7bafa7672b39e1b6477f016ba7a282ae355e6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Wed, 26 Mar 2025 20:49:46 -0700 Subject: [PATCH] Constants --- selfdrive/locationd/lagd.py | 16 ++++++++++------ 1 file changed, 10 insertions(+), 6 deletions(-) diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py index f5334bb161..5542281045 100755 --- a/selfdrive/locationd/lagd.py +++ b/selfdrive/locationd/lagd.py @@ -10,11 +10,12 @@ from openpilot.common.params import Params from openpilot.common.realtime import config_realtime_process from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose -MIN_LAG_VEL = 20.0 -MAX_SANE_LAG = 3.0 -MIN_ABS_YAW_RATE_DEG = 1 -MOVING_CORR_WINDOW = 300.0 -MIN_OKAY_WINDOW = 25.0 +BLOCK_SIZE = 100 +BLOCK_NUM = 50 +MOVING_WINDOW_SEC = 300.0 +MIN_OKAY_WINDOW_SEC = 30.0 +MIN_VEGO = 15.0 +MIN_ABS_YAW_RATE = np.radians(1.0) MIN_NCC = 0.95 @@ -136,7 +137,10 @@ class BlockAverage: class LagEstimator: - def __init__(self, CP, dt, block_count=10, block_size=100, window_sec=300.0, okay_window_sec=30.0, min_vego=15, min_yr=np.radians(1), min_ncc=0.95): + def __init__(self, CP, dt, + block_count=BLOCK_NUM, block_size=BLOCK_SIZE, + window_sec=MOVING_WINDOW_SEC, okay_window_sec=MIN_OKAY_WINDOW_SEC, + min_vego=MIN_VEGO, min_yr=MIN_ABS_YAW_RATE, min_ncc=MIN_NCC): self.dt = dt self.window_sec = window_sec self.okay_window_sec = okay_window_sec