From ca746b0a18eebc9b0fa7a6810dba0b28a60548c2 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Tue, 4 Oct 2022 13:34:31 -0700 Subject: [PATCH] Extend torqued (#25961) * extend live torque to all hyundai and toyota cars * update refs --- selfdrive/locationd/torqued.py | 5 ++--- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 78c3029af4..66af234590 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -12,7 +12,6 @@ from common.realtime import config_realtime_process, DT_MDL from common.filter_simple import FirstOrderFilter from system.swaglog import cloudlog from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY -from selfdrive.car.toyota.values import CAR as TOYOTA HISTORY = 5 # secs POINTS_PER_BUCKET = 1500 @@ -33,7 +32,7 @@ MAX_INVALID_THRESHOLD = 10 MIN_ENGAGE_BUFFER = 2 # secs VERSION = 1 # bump this to invalidate old parameter caches -ALLOWED_FINGERPRINTS = [TOYOTA.COROLLA_TSS2, TOYOTA.COROLLA, TOYOTA.COROLLAH_TSS2] +ALLOWED_CARS = ['toyota', 'hyundai'] def slope2rot(slope): @@ -98,7 +97,7 @@ class TorqueEstimator: self.offline_friction = 0.0 self.offline_latAccelFactor = 0.0 self.resets = 0.0 - self.use_params = CP.carFingerprint in ALLOWED_FINGERPRINTS + self.use_params = CP.carName in ALLOWED_CARS if CP.lateralTuning.which() == 'torque': self.offline_friction = CP.lateralTuning.torque.friction diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 2769483c90..d4d16b726b 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -653fbfeac952c288ffd595ee13139b9547b998bf +1989d8c2a5de94faa3756b7d10fc94e6c063afa5 \ No newline at end of file