def __init__(self,
CP,
steer_ratio,
stiffness_factor,
angle_offset,
P_initial=None):
self.kf = CarKalman(GENERATED_DIR, steer_ratio, stiffness_factor,
angle_offset, P_initial)
self.kf.filter.set_global("mass", CP.mass)
self.kf.filter.set_global("rotational_inertia", CP.rotationalInertia)
self.kf.filter.set_global("center_to_front", CP.centerToFront)
self.kf.filter.set_global("center_to_rear",
CP.wheelbase - CP.centerToFront)
self.kf.filter.set_global("stiffness_front", CP.tireStiffnessFront)
self.kf.filter.set_global("stiffness_rear", CP.tireStiffnessRear)
self.active = False
self.speed = 0.0
self.roll = 0.0
self.steering_pressed = False
self.steering_angle = 0.0
self.valid = True
def __init__(self, CP, steer_ratio, stiffness_factor, angle_offset):
self.kf = CarKalman(GENERATED_DIR, steer_ratio, stiffness_factor,
angle_offset)
self.kf.filter.set_mass(CP.mass) # pylint: disable=no-member
self.kf.filter.set_rotational_inertia(CP.rotationalInertia) # pylint: disable=no-member
self.kf.filter.set_center_to_front(CP.centerToFront) # pylint: disable=no-member
self.kf.filter.set_center_to_rear(CP.wheelbase - CP.centerToFront) # pylint: disable=no-member
self.kf.filter.set_stiffness_front(CP.tireStiffnessFront) # pylint: disable=no-member
self.kf.filter.set_stiffness_rear(CP.tireStiffnessRear) # pylint: disable=no-member
self.active = False
self.speed = 0
self.steering_pressed = False
self.steering_angle = 0
self.carstate_counter = 0