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FrogAi
2024-01-15 06:17:49 -07:00
parent deb2b8d247
commit 458b51c60b
43 changed files with 376 additions and 156 deletions
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11
selfdrive/locationd/paramsd.py
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@@ -134,10 +134,13 @@ def main():
CP = msg
cloudlog.info("paramsd got CarParams")
steer_ratio_stock = params_reader.get_int("SteerRatioStock")
if steer_ratio_stock != CP.steerRatio * 100:
params_reader.put_int("SteerRatio", CP.steerRatio * 100)
params_reader.put_int("SteerRatioStock", CP.steerRatio * 100)
steer_ratio = params_reader.get_float("SteerRatio")
steer_ratio_stock = params_reader.get_float("SteerRatioStock")
if steer_ratio_stock != CP.steerRatio or steer_ratio >= steer_ratio_stock * 2:
params_reader.put_float("SteerRatio", CP.steerRatio)
params_reader.put_float("SteerRatioStock", CP.steerRatio)
params_reader.put_bool("DoReboot", True)
min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio