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dm: adjust cold start pose offsets (#36739)

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* dm: adjust cold start offsets and thresholds

* change just offsets for now
This commit is contained in:
YassineYousfi
2025-12-02 15:17:59 -08:00
committed by GitHub
parent 63563c3561
commit dc02a2d385
1 changed files with 7 additions and 4 deletions
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11
selfdrive/monitoring/helpers.py
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@@ -47,9 +47,9 @@ class DRIVER_MONITOR_SETTINGS:
self._POSE_YAW_THRESHOLD = 0.4020
self._POSE_YAW_THRESHOLD_SLACK = 0.5042
self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD
self._PITCH_NATURAL_OFFSET = 0.029 # initial value before offset is learned
self._PITCH_NATURAL_OFFSET = 0.011 # initial value before offset is learned
self._PITCH_NATURAL_THRESHOLD = 0.449
self._YAW_NATURAL_OFFSET = 0.097 # initial value before offset is learned
self._YAW_NATURAL_OFFSET = 0.075 # initial value before offset is learned
self._PITCH_MAX_OFFSET = 0.124
self._PITCH_MIN_OFFSET = -0.0881
self._YAW_MAX_OFFSET = 0.289
@@ -234,8 +234,11 @@ class DriverMonitoring:
self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET)
pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit
yaw_error = abs(yaw_error)
if pitch_error > (self.settings._POSE_PITCH_THRESHOLD*self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD) or \
yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw:
pitch_threshold = self.settings._POSE_PITCH_THRESHOLD * self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD
yaw_threshold = self.settings._POSE_YAW_THRESHOLD * self.pose.cfactor_yaw
if pitch_error > pitch_threshold or yaw_error > yaw_threshold:
distracted_types.append(DistractedType.DISTRACTED_POSE)
if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD: