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IQ.Pilot Release Commit @ aedea0e

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IQ.Lvbs CI [bot]
2026-07-23 21:59:32 -05:00
parent 38b686ee2f
commit ade24fb921
131 changed files with 111 additions and 184 deletions
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selfdrive/controls/lib/latcontrol_torque.py
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@@ -365,8 +365,12 @@ class NeuralNetworkFeedForward(PilotLateralBrain):
super().__init__(lac_torque, CP, CP_IQ, CI)
self.params = Params()
self.enabled = self.params.get_bool("NeuralNetworkFeedForward")
self.has_nn_model = CP_IQ.iqLateralNet.model.path != MOCK_MODEL_PATH
self.model = NNTorqueModel(CP_IQ.iqLateralNet.model.path)
# NNFF applies only when a real trained model for this car is present on disk.
# No models shipped (or no match / MOCK) -> skip NNFF entirely and fall back to
# the stock torque feed-forward. Models are re-added as they are retrained.
self.has_nn_model = (CP_IQ.iqLateralNet.model.path != MOCK_MODEL_PATH
and os.path.isfile(CP_IQ.iqLateralNet.model.path))
self.model = NNTorqueModel(CP_IQ.iqLateralNet.model.path) if self.has_nn_model else None
self.pitch = FirstOrderFilter(0.0, 0.5, 0.01)
self.pitch_last = 0.0