stash changes to change params

selfdrive/locationd/calibrationd.py

@@ -166,8 +166,10 @@ class Calibrator:
       self.cal_status = log.LiveCalibrationData.Status.recalibrating
 
     write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5)
-    if self.param_put and write_this_cycle:
+    if self.param_put and True:#write_this_cycle:
-      self.params.put_nonblocking("CalibrationParams", self.get_msg(True).to_bytes())
+      m = self.get_msg(True)
+      print(m)
+      self.params.put_nonblocking("CalibrationParams", m.to_bytes())
 
   def handle_v_ego(self, v_ego: float) -> None:
     self.v_ego = v_ego

selfdrive/locationd/lagd.py

@@ -201,7 +201,7 @@ class LateralLagEstimator:
   def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder:
     msg = messaging.new_message('liveDelay')
 
-    msg.valid = valid
+    msg.valid = True  # valid
 
     liveDelay = msg.liveDelay
 
@@ -227,8 +227,8 @@ class LateralLagEstimator:
       liveDelay.lateralDelayEstimateStd = 0.0
 
     liveDelay.validBlocks = self.block_avg.valid_blocks
-    liveDelay.calPerc = min(100 * (self.block_avg.valid_blocks * self.block_size + self.block_avg.idx) //
+    liveDelay.calPerc = 99# min(100 * (self.block_avg.valid_blocks * self.block_size + self.block_avg.idx) //
-                            (self.min_valid_block_count * self.block_size), 100)
+                          #  (self.min_valid_block_count * self.block_size), 100)
     if debug:
       liveDelay.points = self.block_avg.values.flatten().tolist()
 
@@ -376,7 +376,7 @@ def main():
 
   while True:
     sm.update()
-    if sm.all_checks():
+    if sm.all_checks() or 1:
       for which in sorted(sm.updated.keys(), key=lambda x: sm.logMonoTime[x]):
         if sm.updated[which]:
           t = sm.logMonoTime[which] * 1e-9
@@ -387,8 +387,13 @@ def main():
     if sm.frame % 5 == 0:
       lag_learner.update_estimate()
       lag_msg = lag_learner.get_msg(sm.all_checks(), DEBUG)
+      print(lag_msg)
       lag_msg_dat = lag_msg.to_bytes()
       pm.send('liveDelay', lag_msg_dat)
 
-      if sm.frame % 1200 == 0: # cache every 60 seconds
+      if True:#sm.frame % 1200 == 0: # cache every 60 seconds
         params.put_nonblocking("LiveDelay", lag_msg_dat)
+
+
+if __name__ == "__main__":
+  main()

selfdrive/locationd/torqued.py

@@ -203,6 +203,7 @@ class TorqueEstimator(ParameterEstimator):
             self.all_torque_points.append([steer, lateral_acc])
 
   def get_msg(self, valid=True, with_points=False):
+    valid = True
     msg = messaging.new_message('liveTorqueParameters')
     msg.valid = valid
     liveTorqueParameters = msg.liveTorqueParameters
@@ -234,7 +235,7 @@ class TorqueEstimator(ParameterEstimator):
     liveTorqueParameters.latAccelOffsetFiltered = float(self.filtered_params['latAccelOffset'].x)
     liveTorqueParameters.frictionCoefficientFiltered = float(self.filtered_params['frictionCoefficient'].x)
     liveTorqueParameters.totalBucketPoints = len(self.filtered_points)
-    liveTorqueParameters.calPerc = self.filtered_points.get_valid_percent()
+    liveTorqueParameters.calPerc = 24  # self.filtered_points.get_valid_percent()
     liveTorqueParameters.decay = self.decay
     liveTorqueParameters.maxResets = self.resets
     return msg
@@ -264,8 +265,9 @@ def main(demo=False):
       pm.send('liveTorqueParameters', estimator.get_msg(valid=sm.all_checks(), with_points=DEBUG))
 
     # Cache points every 60 seconds while onroad
-    if sm.frame % 240 == 0:
+    if True:#sm.frame % 240 == 0:
       msg = estimator.get_msg(valid=sm.all_checks(), with_points=True)
+      print(msg)
       params.put_nonblocking("LiveTorqueParameters", msg.to_bytes())