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calibrationd: remove unused arg in function (#24004)

pull/24011/head^2
Dylan Herman 2022-03-21 22:03:32 -05:00 committed by GitHub
parent 03ac5bb4e3
commit 604fefa9b1
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 3 additions and 4 deletions
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7
selfdrive/locationd/calibrationd.py
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@ -129,7 +129,7 @@ class Calibrator():
self.cal_status = Calibration.INVALID
# If spread is too high, assume mounting was changed and reset to last block.
# Make the transition smooth. Abrupt transitions are not good foor feedback loop through supercombo model.
# Make the transition smooth. Abrupt transitions are not good for feedback loop through supercombo model.
if max(self.calib_spread) > MAX_ALLOWED_SPREAD and self.cal_status == Calibration.CALIBRATED:
self.reset(self.rpys[self.block_idx - 1], valid_blocks=INPUTS_NEEDED, smooth_from=self.rpy)
@ -146,7 +146,7 @@ class Calibrator():
else:
return self.rpy
def handle_cam_odom(self, trans, rot, trans_std, rot_std):
def handle_cam_odom(self, trans, rot, trans_std):
self.old_rpy_weight = min(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES)
straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER))
@ -213,8 +213,7 @@ def calibrationd_thread(sm=None, pm=None) -> NoReturn:
calibrator.handle_v_ego(sm['carState'].vEgo)
new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans,
sm['cameraOdometry'].rot,
sm['cameraOdometry'].transStd,
sm['cameraOdometry'].rotStd)
sm['cameraOdometry'].transStd)
if DEBUG and new_rpy is not None:
print('got new rpy', new_rpy)