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torqued: use correct time from carOutput (#31712)

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fix timings
old-commit-hash: 9d4d5f6077a4bb0c40eb91ec41154f7903761253
This commit is contained in:
Justin Newberry
2024-03-05 14:02:02 -05:00
committed by GitHub
parent fd4ee6f1c5
commit e581322de5
1 changed files with 2 additions and 1 deletions
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3
selfdrive/locationd/torqued.py
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@@ -161,6 +161,7 @@ class TorqueEstimator(ParameterEstimator):
self.raw_points["carControl_t"].append(t + self.lag)
self.raw_points["active"].append(msg.latActive)
elif which == "carOutput":
self.raw_points["carOutput_t"].append(t + self.lag)
self.raw_points["steer_torque"].append(-msg.actuatorsOutput.steer)
elif which == "carState":
self.raw_points["carState_t"].append(t + self.lag)
@@ -173,7 +174,7 @@ class TorqueEstimator(ParameterEstimator):
active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carControl_t'], self.raw_points['active']).astype(bool)
steer_override = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carState_t'], self.raw_points['steer_override']).astype(bool)
vego = np.interp(t, self.raw_points['carState_t'], self.raw_points['vego'])
steer = np.interp(t, self.raw_points['carControl_t'], self.raw_points['steer_torque'])
steer = np.interp(t, self.raw_points['carOutput_t'], self.raw_points['steer_torque'])
lateral_acc = (vego * yaw_rate) - (np.sin(roll) * ACCELERATION_DUE_TO_GRAVITY)
if all(active) and (not any(steer_override)) and (vego > MIN_VEL) and (abs(steer) > STEER_MIN_THRESHOLD) and (abs(lateral_acc) <= LAT_ACC_THRESHOLD):
self.filtered_points.add_point(float(steer), float(lateral_acc))