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IQ.Pilot Release Commit @ 1399ceb

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IQ.Lvbs CI [bot]
2026-08-26 00:54:03 -05:00
parent 31a37f5a3c
commit 0d844a5ca2
31 changed files with 227 additions and 56 deletions
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2
iqpilot/selfdrive/locationd/lagd.py
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@@ -21,7 +21,7 @@ MIN_VEGO = 50.0 * CV.MPH_TO_MS
MIN_ABS_YAW_RATE = 0.0
MAX_YAW_RATE_SANITY_CHECK = 1.0
MIN_NCC = 0.95
MAX_LAG = 1.0
MAX_LAG = 0.65
MIN_LAG = 0.15
MAX_LAG_STD = 0.1
MAX_LAT_ACCEL = 2.0

8
iqpilot/selfdrive/locationd/test/test_lagd.py
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@@ -88,7 +88,7 @@ class TestLagd:
assert np.argmax(corr) in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
def test_empty_estimator(self):
mocked_CP = car.CarParams(steerActuatorDelay=0.8)
mocked_CP = car.CarParams(steerActuatorDelay=0.5)
estimator = LateralLagEstimator(mocked_CP, DT)
msg = estimator.get_msg(True)
assert msg.lateralDelay.status == 'unestimated'
@@ -100,7 +100,7 @@ class TestLagd:
def test_estimator_basics(self, subtests):
for lag_frames in range(LAGD_MIN_LAG_FRAMES, LAGD_MAX_LAG_FRAMES - 1):
with subtests.test(msg=f"lag_frames={lag_frames}"):
mocked_CP = car.CarParams(steerActuatorDelay=0.8)
mocked_CP = car.CarParams(steerActuatorDelay=0.5)
estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0)
process_messages(estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE)
msg = estimator.get_msg(True)
@@ -112,7 +112,7 @@ class TestLagd:
assert msg.lateralDelay.calPerc == 100
def test_estimator_masking(self):
mocked_CP, lag_frames = car.CarParams(steerActuatorDelay=0.8), random.randint(LAGD_MIN_LAG_FRAMES, LAGD_MAX_LAG_FRAMES - 1)
mocked_CP, lag_frames = car.CarParams(steerActuatorDelay=0.5), random.randint(LAGD_MIN_LAG_FRAMES, LAGD_MAX_LAG_FRAMES - 1)
estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, min_valid_block_count=1)
process_messages(estimator, lag_frames, (int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_SIZE) * 2, rejection_threshold=0.4)
msg = estimator.get_msg(True)
@@ -122,7 +122,7 @@ class TestLagd:
@pytest.mark.timeout(60)
def test_estimator_performance(self):
mocked_CP = car.CarParams(steerActuatorDelay=0.8)
mocked_CP = car.CarParams(steerActuatorDelay=0.5)
estimator = LateralLagEstimator(mocked_CP, DT)
ds = []