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Improve cluster offset for 7th Gen Lexus ES

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FrogAi
2024-02-27 16:34:47 -07:00
parent db5e0191f9
commit e294aa5af8
1 changed files with 4 additions and 1 deletions
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5
selfdrive/car/toyota/carstate.py
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@@ -72,7 +72,10 @@ class CarState(CarStateBase):
) )
ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]) ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.vEgoCluster = ret.vEgo * 1.015 # minimum of all the cars if self.CP.carFingerprint == CAR.LEXUS_ES_TSS2:
ret.vEgoCluster = ret.vEgo * 1.023456789
else:
ret.vEgoCluster = ret.vEgo * 1.015 # minimum of all the cars
ret.standstill = abs(ret.vEgoRaw) < 1e-3 ret.standstill = abs(ret.vEgoRaw) < 1e-3