mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-18 20:03:53 +08:00
80bc61dc6c
* Pose calibrator
* Fix static analysis
* Fix static
* Fix test_latcontrol
* Fix test_latcontrol
* Update services in process replay
* Fix static
* Matmul not mul
* Add assertion
* Move pose calibration to data_sample
* Update ref commit
* Remove llk from cycle alerts
* Deprecated nogps event
* Switch power_draw to lp
* Bring back noGps alert
* Add handling code back
* get_bool
* Bring inputsok back
old-commit-hash: 9734015bbb
30 lines
1.1 KiB
Python
30 lines
1.1 KiB
Python
import math
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from cereal import log
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from openpilot.selfdrive.controls.lib.latcontrol import LatControl
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STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees
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class LatControlAngle(LatControl):
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def __init__(self, CP, CI):
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super().__init__(CP, CI)
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self.sat_check_min_speed = 5.
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def update(self, active, CS, VM, params, steer_limited, desired_curvature, calibrated_pose):
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angle_log = log.ControlsState.LateralAngleState.new_message()
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if not active:
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angle_log.active = False
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angle_steers_des = float(CS.steeringAngleDeg)
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else:
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angle_log.active = True
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angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
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angle_steers_des += params.angleOffsetDeg
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angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
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angle_log.saturated = self._check_saturation(angle_control_saturated, CS, False)
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angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
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angle_log.steeringAngleDesiredDeg = angle_steers_des
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return 0, float(angle_steers_des), angle_log
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