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Vehicles - Toyota - Cluster Offset

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FrogAi 2024-05-10 23:54:39 -07:00
parent 2fe3ad2309
commit 8d625882ba
1 changed files with 1 additions and 1 deletions
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selfdrive/car/toyota/carstate.py
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@ -99,7 +99,7 @@ class CarState(CarStateBase):
) )
ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]) ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.vEgoCluster = ret.vEgo * 1.015 # minimum of all the cars ret.vEgoCluster = ret.vEgo * frogpilot_variables.cluster_offset
ret.standstill = abs(ret.vEgoRaw) < 1e-3 ret.standstill = abs(ret.vEgoRaw) < 1e-3