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dm: better init stat filters #36634

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dm: better init stat filters #36634

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2484e99
dm: better init stat filters
YassineYousfi Nov 18, 2025
69318cf
Merge remote-tracking branch 'origin/master' into dm-init-filters
YassineYousfi Nov 21, 2025
e4c34a4
more params
YassineYousfi Nov 21, 2025
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8 changes: 4 additions & 4 deletions selfdrive/monitoring/helpers.py
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Original file line number Diff line number Diff line change
Expand Up @@ -91,8 +91,8 @@ def __init__(self, max_trackable):
self.yaw_std = 0.
self.pitch_std = 0.
self.roll_std = 0.
self.pitch_offseter = RunningStatFilter(max_trackable=max_trackable)
self.yaw_offseter = RunningStatFilter(max_trackable=max_trackable)
self.pitch_offseter = RunningStatFilter(raw_priors=[0., 0.02, 2], max_trackable=max_trackable)
self.yaw_offseter = RunningStatFilter(raw_priors=[0., 0.03, 2], max_trackable=max_trackable)
self.calibrated = False
self.low_std = True
self.cfactor_pitch = 1.
Expand All @@ -101,7 +101,7 @@ def __init__(self, max_trackable):
class DriverPhone:
def __init__(self, max_trackable):
self.prob = 0.
self.prob_offseter = RunningStatFilter(max_trackable=max_trackable)
self.prob_offseter = RunningStatFilter(raw_priors=[0.5, 0.25, 2], max_trackable=max_trackable)
self.prob_calibrated = False

class DriverBlink:
Expand Down Expand Up @@ -140,7 +140,7 @@ def __init__(self, rhd_saved=False, settings=None, always_on=False):
self.settings = settings if settings is not None else DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type())

# init driver status
self.wheelpos_learner = RunningStatFilter()
self.wheelpos_learner = RunningStatFilter(raw_priors=[0.5, 0.25, 2])
self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT)
self.phone = DriverPhone(self.settings._POSE_OFFSET_MAX_COUNT)
self.blink = DriverBlink()
Expand Down
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