From a108e7f211e4af4b4e0ac334686c11cdb7a26f2e Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 1 Jun 2020 13:39:53 -0700 Subject: [PATCH] paramsd output at 20 Hz instead of 100 Hz --- selfdrive/locationd/paramsd.py | 10 ++-------- 1 file changed, 2 insertions(+), 8 deletions(-) diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 29d7c73f3..70ffd4795 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -103,7 +103,6 @@ def main(sm=None, pm=None): learner = ParamsLearner(CP, params['steerRatio'], params['stiffnessFactor'], math.radians(params['angleOffsetAverage'])) min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio - i = 0 while True: sm.update() @@ -113,14 +112,10 @@ def main(sm=None, pm=None): t = sm.logMonoTime[which] * 1e-9 learner.handle_log(t, which, sm[which]) - # TODO: set valid to false when locationd stops sending - # TODO: make sure controlsd knows when there is no gyro - - if sm.updated['carState']: + if sm.updated['carState'] and (learner.carstate_counter % CARSTATE_DECIMATION == 0): msg = messaging.new_message('liveParameters') msg.logMonoTime = sm.logMonoTime['carState'] - msg.liveParameters.valid = True # TODO: Check if learned values are sane msg.liveParameters.posenetValid = True msg.liveParameters.sensorValid = True @@ -136,8 +131,7 @@ def main(sm=None, pm=None): min_sr <= msg.liveParameters.steerRatio <= max_sr, )) - i += 1 - if i % 6000 == 0: # once a minute + if learner.carstate_counter % 6000 == 0: # once a minute params = { 'carFingerprint': CP.carFingerprint, 'steerRatio': msg.liveParameters.steerRatio,