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Ford: set lateral ramp type to 0 (#27106)

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set ramp type always to 0
This commit is contained in:
Shane Smiskol
2023-01-26 19:11:44 -08:00
committed by GitHub
parent 7316cd03fb
commit 4f4f4afe8a
2 changed files with 6 additions and 18 deletions
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15
selfdrive/car/ford/carcontroller.py
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@@ -54,22 +54,9 @@ class CarController:
else:
apply_curvature = 0.
# set slower ramp type when small steering angle change
# 0=Slow, 1=Medium, 2=Fast, 3=Immediately
steer_change = abs(CS.out.steeringAngleDeg - actuators.steeringAngleDeg)
if steer_change < 2.5:
ramp_type = 0
elif steer_change < 5.0:
ramp_type = 1
elif steer_change < 7.5:
ramp_type = 2
else:
ramp_type = 3
precision = 1 # 0=Comfortable, 1=Precise (the stock system always uses comfortable)
self.apply_curvature_last = apply_curvature
can_sends.append(create_lka_msg(self.packer))
can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, ramp_type, precision, 0., 0., -apply_curvature, 0.))
can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, 0., 0., -apply_curvature, 0.))
### ui ###
send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)

9
selfdrive/car/ford/fordcan.py
View File

@@ -16,8 +16,7 @@ def create_lka_msg(packer):
return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, {})
def create_lat_ctl_msg(packer, lat_active: bool, ramp_type: int, precision: int, path_offset: float, path_angle: float,
curvature: float, curvature_rate: float):
def create_lat_ctl_msg(packer, lat_active: bool, path_offset: float, path_angle: float, curvature: float, curvature_rate: float):
"""
Creates a CAN message for the Ford TJA/LCA Command.
@@ -44,8 +43,10 @@ def create_lat_ctl_msg(packer, lat_active: bool, ramp_type: int, precision: int,
"HandsOffCnfm_B_Rq": 0, # Unknown: 0=Inactive, 1=Active [0|1]
"LatCtl_D_Rq": 1 if lat_active else 0, # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft,
# 3=InterventionRight, 4-7=NotUsed [0|7]
"LatCtlRampType_D_Rq": ramp_type, # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
"LatCtlPrecision_D_Rq": precision, # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
"LatCtlRampType_D_Rq": 0, # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
# Makes no difference with curvature control
"LatCtlPrecision_D_Rq": 1, # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
# The stock system always uses comfortable
"LatCtlPathOffst_L_Actl": path_offset, # Path offset [-5.12|5.11] meter
"LatCtlPath_An_Actl": path_angle, # Path angle [-0.5|0.5235] radians
"LatCtlCurv_NoRate_Actl": curvature_rate, # Curvature rate [-0.001024|0.00102375] 1/meter^2