paramsd output at 20 Hz instead of 100 Hz
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@ -103,7 +103,6 @@ def main(sm=None, pm=None):
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learner = ParamsLearner(CP, params['steerRatio'], params['stiffnessFactor'], math.radians(params['angleOffsetAverage']))
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learner = ParamsLearner(CP, params['steerRatio'], params['stiffnessFactor'], math.radians(params['angleOffsetAverage']))
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min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio
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min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio
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i = 0
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while True:
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while True:
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sm.update()
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sm.update()
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@ -113,14 +112,10 @@ def main(sm=None, pm=None):
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t = sm.logMonoTime[which] * 1e-9
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t = sm.logMonoTime[which] * 1e-9
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learner.handle_log(t, which, sm[which])
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learner.handle_log(t, which, sm[which])
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# TODO: set valid to false when locationd stops sending
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if sm.updated['carState'] and (learner.carstate_counter % CARSTATE_DECIMATION == 0):
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# TODO: make sure controlsd knows when there is no gyro
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if sm.updated['carState']:
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msg = messaging.new_message('liveParameters')
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msg = messaging.new_message('liveParameters')
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msg.logMonoTime = sm.logMonoTime['carState']
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msg.logMonoTime = sm.logMonoTime['carState']
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msg.liveParameters.valid = True # TODO: Check if learned values are sane
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msg.liveParameters.posenetValid = True
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msg.liveParameters.posenetValid = True
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msg.liveParameters.sensorValid = True
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msg.liveParameters.sensorValid = True
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@ -136,8 +131,7 @@ def main(sm=None, pm=None):
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min_sr <= msg.liveParameters.steerRatio <= max_sr,
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min_sr <= msg.liveParameters.steerRatio <= max_sr,
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))
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))
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i += 1
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if learner.carstate_counter % 6000 == 0: # once a minute
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if i % 6000 == 0: # once a minute
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params = {
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params = {
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'carFingerprint': CP.carFingerprint,
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'carFingerprint': CP.carFingerprint,
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'steerRatio': msg.liveParameters.steerRatio,
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'steerRatio': msg.liveParameters.steerRatio,
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