From d1893ee3eb536bec09ee55d3c0b32e1fcfca28dd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 25 Jun 2025 22:08:56 -0700 Subject: [PATCH] OS camera calibration (#35603) * wider narrow * typo * whiteapace --- selfdrive/locationd/calibrationd.py | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index e265b70f1a..59f30dbf77 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -13,6 +13,7 @@ from typing import NoReturn from cereal import log, car import cereal.messaging as messaging +from openpilot.system.hardware import HARDWARE from openpilot.common.conversions import Conversions as CV from openpilot.common.params import Params from openpilot.common.realtime import config_realtime_process @@ -36,8 +37,11 @@ RPY_INIT = np.array([0.0,0.0,0.0]) WIDE_FROM_DEVICE_EULER_INIT = np.array([0.0, 0.0, 0.0]) HEIGHT_INIT = np.array([1.22]) -# These values are needed to accommodate the model frame in the narrow cam of the C3 -PITCH_LIMITS = np.array([-0.09074112085129739, 0.17]) +# These values are needed to accommodate the model frame in the narrow cam +if HARDWARE.get_device_type() == 'mici': + PITCH_LIMITS = np.array([-0.143101, 0.22235988]) +else: + PITCH_LIMITS = np.array([-0.09074112085129739, 0.17]) YAW_LIMITS = np.array([-0.06912048084718224, 0.06912048084718235]) DEBUG = os.getenv("DEBUG") is not None