mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-19 04:13:54 +08:00
29 lines
818 B
Python
29 lines
818 B
Python
import math
|
|
|
|
from cereal import log
|
|
|
|
|
|
class LatControlAngle():
|
|
def __init__(self, CP):
|
|
pass
|
|
|
|
def reset(self):
|
|
pass
|
|
|
|
def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate):
|
|
angle_log = log.ControlsState.LateralAngleState.new_message()
|
|
|
|
if CS.vEgo < 0.3 or not active:
|
|
angle_log.active = False
|
|
angle_steers_des = float(CS.steeringAngleDeg)
|
|
else:
|
|
angle_log.active = True
|
|
angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
|
|
angle_steers_des += params.angleOffsetDeg
|
|
|
|
angle_log.saturated = False
|
|
angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
|
|
angle_log.steeringAngleDesiredDeg = angle_steers_des
|
|
|
|
return 0, float(angle_steers_des), angle_log
|