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9de8f8cd8c
* base LatControl class, move sat check out of pid.py clean up clean up * fix * global variable for min control speed * nicer name * unify latcontrol class init arguments * add to release files * saturated if close to limit * move angle mode saturation checks into class * check_saturation function takes in current saturated status undo * apply latcontrol_angle's active checking to all controllers * clean up * move those back * make abstract baseclass * add test for saturation * keep clip * update ref * fix static analysis Co-authored-by: Willem Melching <willem.melching@gmail.com>
29 lines
803 B
Python
29 lines
803 B
Python
from abc import abstractmethod, ABC
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from common.realtime import DT_CTRL
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from common.numpy_fast import clip
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MIN_STEER_SPEED = 0.3
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class LatControl(ABC):
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def __init__(self, CP, CI):
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self.sat_count_rate = 1.0 * DT_CTRL
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self.sat_limit = CP.steerLimitTimer
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self.sat_count = 0.
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@abstractmethod
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def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate):
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pass
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def reset(self):
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self.sat_count = 0.
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def _check_saturation(self, saturated, CS):
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if saturated and CS.vEgo > 10. and not CS.steeringRateLimited and not CS.steeringPressed:
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self.sat_count += self.sat_count_rate
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else:
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self.sat_count -= self.sat_count_rate
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self.sat_count = clip(self.sat_count, 0.0, 1.0)
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return self.sat_count > self.sat_limit
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