From 604fefa9b1c0f473d73a2608217c302df8c088d6 Mon Sep 17 00:00:00 2001 From: Dylan Herman Date: Mon, 21 Mar 2022 22:03:32 -0500 Subject: [PATCH] calibrationd: remove unused arg in function (#24004) --- selfdrive/locationd/calibrationd.py | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index c8c39125286274..bf6fe26ecb64bd 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -129,7 +129,7 @@ def update_status(self): self.cal_status = Calibration.INVALID # If spread is too high, assume mounting was changed and reset to last block. - # Make the transition smooth. Abrupt transitions are not good foor feedback loop through supercombo model. + # Make the transition smooth. Abrupt transitions are not good for feedback loop through supercombo model. if max(self.calib_spread) > MAX_ALLOWED_SPREAD and self.cal_status == Calibration.CALIBRATED: self.reset(self.rpys[self.block_idx - 1], valid_blocks=INPUTS_NEEDED, smooth_from=self.rpy) @@ -146,7 +146,7 @@ def get_smooth_rpy(self): else: return self.rpy - def handle_cam_odom(self, trans, rot, trans_std, rot_std): + def handle_cam_odom(self, trans, rot, trans_std): self.old_rpy_weight = min(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES) straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER)) @@ -213,8 +213,7 @@ def calibrationd_thread(sm=None, pm=None) -> NoReturn: calibrator.handle_v_ego(sm['carState'].vEgo) new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans, sm['cameraOdometry'].rot, - sm['cameraOdometry'].transStd, - sm['cameraOdometry'].rotStd) + sm['cameraOdometry'].transStd) if DEBUG and new_rpy is not None: print('got new rpy', new_rpy)