torqued: check steer override to current time (#32963)

* lat active/steer override: check up to now

* lint

* Update ref_commit
old-commit-hash: b247c3caaa

selfdrive/locationd/torqued.py

@@ -177,8 +177,11 @@ class TorqueEstimator(ParameterEstimator):
       if len(self.raw_points['steer_torque']) == self.hist_len:
         yaw_rate = msg.angularVelocityCalibrated.value[2]
         roll = msg.orientationNED.value[0]
-        lat_active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carControl_t'], self.raw_points['lat_active']).astype(bool)
+        # check lat active up to now (without lag compensation)
-        steer_override = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carState_t'], self.raw_points['steer_override']).astype(bool)
+        lat_active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t + self.lag, DT_MDL),
+                               self.raw_points['carControl_t'], self.raw_points['lat_active']).astype(bool)
+        steer_override = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t + self.lag, DT_MDL),
+                                   self.raw_points['carState_t'], self.raw_points['steer_override']).astype(bool)
         vego = np.interp(t, self.raw_points['carState_t'], self.raw_points['vego'])
         steer = np.interp(t, self.raw_points['carOutput_t'], self.raw_points['steer_torque']).item()
         lateral_acc = (vego * yaw_rate) - (np.sin(roll) * ACCELERATION_DUE_TO_GRAVITY).item()

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-f6ff3601bd0496e78d8bc3b019d58bb7739f096b
+0adff03d45c99dcfb330c48b2aa9d2093ce674a2