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LatControlAngle: lower saturation check speed (#26749)

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lower speed for angle
old-commit-hash: d5ffb90a04
This commit is contained in:
Shane Smiskol
2022-12-09 21:43:55 -08:00
committed by GitHub
parent 333464b3d3
commit de8ddbb73f
2 changed files with 4 additions and 1 deletions
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3
selfdrive/controls/lib/latcontrol.py
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@@ -11,6 +11,7 @@ class LatControl(ABC):
self.sat_count_rate = 1.0 * DT_CTRL
self.sat_limit = CP.steerLimitTimer
self.sat_count = 0.
self.sat_check_min_speed = 10.
# we define the steer torque scale as [-1.0...1.0]
self.steer_max = 1.0
@@ -23,7 +24,7 @@ class LatControl(ABC):
self.sat_count = 0.
def _check_saturation(self, saturated, CS, steer_limited):
if saturated and CS.vEgo > 10. and not steer_limited and not CS.steeringPressed:
if saturated and CS.vEgo > self.sat_check_min_speed and not steer_limited and not CS.steeringPressed:
self.sat_count += self.sat_count_rate
else:
self.sat_count -= self.sat_count_rate

2
selfdrive/controls/lib/latcontrol_angle.py
View File

@@ -7,6 +7,8 @@ STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees
class LatControlAngle(LatControl):
sat_check_min_speed = 5.
def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
angle_log = log.ControlsState.LateralAngleState.new_message()