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IQ.Pilot Release Commit @ 4521b0f

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IQ.Lvbs CI [bot]
2026-08-22 10:38:43 -05:00
parent e142a0001a
commit 11cefcb266
29 changed files with 822 additions and 111 deletions
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iqpilot/selfdrive/iqmodeld/daemon.py
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@@ -32,7 +32,7 @@ from iqpilot.selfdrive.controls.lib.drive_helpers import (
from iqpilot.selfdrive.locationd.calibration_helpers import get_calibrated_rpy
from iqpilot.system import sentry
from iqpilot.common.steer_delay import resolve_steer_delay
from iqpilot.common.steer_delay import lateral_action_delay
from iqpilot.selfdrive.iqmodeld.models.helpers import get_active_bundle
from iqpilot.selfdrive.iqmodeld.models.inference_state import InferenceStateBase
from iqpilot.selfdrive.iqmodeld.models.runners.model_runner import get_model_runner
@@ -510,7 +510,7 @@ class InferenceDaemon:
def _refresh_tunables(self, tick: int) -> None:
if tick % 60 != 0:
return
self._runtime.lat_delay = resolve_steer_delay(self._params, self._sub["lateralDelay"].lateralDelay)
self._runtime.lat_delay = lateral_action_delay(self._params, self._car_params, self._sub["lateralDelay"].lateralDelay)
self._runtime.PLANPLUS_CONTROL = self._params.get("PlanplusControl", return_default=True)
self._runtime.model_smoothing_max_extra_sec = _model_lat_smooth_max_sec(self._params)
self._warps.set_offset(self._params.get("CameraOffset", return_default=True))