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Torque control: no car specific gains (#2851)

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* deprecate unused gains

* remove long kf field assignment that makes hitl test fail

* fix test

---------

Co-authored-by: felsager <d.felsager@gmail.com>
This commit is contained in:
Harald Schäfer
2025-10-20 16:49:59 -07:00
committed by GitHub
parent 49676d0f5c
commit b59f8bdcca
3 changed files with 6 additions and 11 deletions
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10
opendbc/car/car.capnp
View File

@@ -549,15 +549,15 @@ struct CarParams {
}
struct LateralTorqueTuning {
kp @1 :Float32;
ki @2 :Float32;
kd @8 : Float32;
friction @3 :Float32;
kf @4 :Float32;
steeringAngleDeadzoneDeg @5 :Float32;
latAccelFactor @6 :Float32;
latAccelOffset @7 :Float32;
useSteeringAngleDEPRECATED @0 :Bool;
kpDEPRECATED @1 :Float32;
kiDEPRECATED @2 :Float32;
kfDEPRECATED @4 :Float32;
kdDEPRECATED @8 : Float32;
}
struct LongitudinalPIDTuning {
@@ -565,7 +565,7 @@ struct CarParams {
kpV @1 :List(Float32);
kiBP @2 :List(Float32);
kiV @3 :List(Float32);
kf @6 :Float32;
kfDEPRECATED @6 :Float32;
deadzoneBPDEPRECATED @4 :List(Float32);
deadzoneVDEPRECATED @5 :List(Float32);
}

5
opendbc/car/interfaces.py
View File

@@ -210,7 +210,6 @@ class CarInterfaceBase(ABC):
ret.stoppingDecelRate = 0.8 # brake_travel/s while trying to stop
ret.vEgoStopping = 0.5
ret.vEgoStarting = 0.5
ret.longitudinalTuning.kf = 1.
ret.longitudinalTuning.kpBP = [0.]
ret.longitudinalTuning.kpV = [0.]
ret.longitudinalTuning.kiBP = [0.]
@@ -225,10 +224,6 @@ class CarInterfaceBase(ABC):
params = get_torque_params()[candidate]
tune.init('torque')
tune.torque.kf = 1.0
tune.torque.kp = 1.0
tune.torque.ki = 0.3
tune.torque.kd = 0.0
tune.torque.friction = params['FRICTION']
tune.torque.latAccelFactor = params['LAT_ACCEL_FACTOR']
tune.torque.latAccelOffset = 0.0

2
opendbc/car/tests/test_car_interfaces.py
View File

@@ -87,7 +87,7 @@ class TestCarInterfaces:
assert len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP)
elif tune.which() == 'torque':
assert not math.isnan(tune.torque.kf) and tune.torque.kf > 0
assert not math.isnan(tune.torque.latAccelFactor) and tune.torque.latAccelFactor > 0
assert not math.isnan(tune.torque.friction) and tune.torque.friction > 0
# Run car interface