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IQ.Pilot Release Commit @ cd83f5a

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IQ.Lvbs CI [bot]
2026-08-23 11:32:03 -05:00
parent 58039e647c
commit a80e124cb8
116 changed files with 1657 additions and 4066 deletions
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iqpilot/selfdrive/locationd/paramsd.py
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@@ -8,7 +8,6 @@ from iqpilot.common.issue_debug import log_issue_limited
from iqpilot.common.params import Params
from iqpilot.common.realtime import DT_MDL
from iqpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States
from iqpilot.selfdrive.locationd.models.constants import GENERATED_DIR
from iqpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
from iqpilot.common.swaglog import cloudlog
@@ -26,7 +25,7 @@ LOW_ACTIVE_SPEED = 10.0
class VehicleParamsEstimator:
def __init__(self, CP: car.CarParams, steer_ratio: float, stiffness_factor: float, angle_offset: float, P_initial: np.ndarray | None = None):
self.kf = CarKalman(GENERATED_DIR)
self.kf = CarKalman()
self.x_initial = CarKalman.initial_x.copy()
self.x_initial[States.STEER_RATIO] = steer_ratio