From ef1c7b6833fe86c5541eb79b8129d0663db00c7a Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Fri, 12 Jun 2020 12:09:04 -0700
Subject: [PATCH] Reset stiffness at beginning of each drive

---
 selfdrive/locationd/paramsd.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index 487dc640e0..ad820b4ea2 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -100,6 +100,10 @@ def main(sm=None, pm=None):
     }
     cloudlog.info("Parameter learner resetting to default values")
 
+  # When driving in wet conditions the stiffness can go down, and then be too low on the next drive
+  # Without a way to detect this we have to reset the stiffness every drive
+  params['stiffnessFactor'] = 1.0
+
   learner = ParamsLearner(CP, params['steerRatio'], params['stiffnessFactor'], math.radians(params['angleOffsetAverage']))
   min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio