wip

selfdrive/locationd/paramsd.py

@@ -14,7 +14,6 @@ from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKi
 from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR
 from openpilot.common.swaglog import cloudlog
 
-params_memory = Params("/dev/shm/params")
 
 MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL  # Max 20 deg/s
 ROLL_MAX_DELTA = math.radians(20.0) * DT_MDL  # 20deg in 1 second is well within curvature limits
@@ -142,6 +141,7 @@ def main():
   min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio
 
   params = params_reader.get("LiveParameters")
+  params_memory = Params("/dev/shm/params")
 
   # Check if car model matches
   if params is not None:
@@ -202,7 +202,7 @@ def main():
         bearing = math.degrees(location.calibratedOrientationNED.value[2])
         lat = location.positionGeodetic.value[0]
         lon = location.positionGeodetic.value[1]
-        params_memory.put("LastGPSPosition", json.dumps({ "latitude": lat, "longitude": lon, "bearing": bearing }))
+        params_memory.put("LastGPSPosition", json.dumps({"latitude": lat, "longitude": lon, "bearing": bearing}))
       x = learner.kf.x
       P = np.sqrt(learner.kf.P.diagonal())
       if not all(map(math.isfinite, x)):
@@ -244,7 +244,7 @@ def main():
         0.2 <= liveParameters.stiffnessFactor <= 5.0,
         min_sr <= liveParameters.steerRatio <= max_sr,
       ))
-      if (CP.carName == 'subaru' and CP.lateralTuning.which() == 'torque'):
+      if (CP.carName == "subaru" and CP.lateralTuning.which() == "torque"):
         liveParameters.valid = True
       liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item())
       liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item())