mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-18 18:53:55 +08:00
beeb0442ce
* 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>
old-commit-hash: 9de8f8cd8c
29 lines
803 B
Python
29 lines
803 B
Python
from abc import abstractmethod, ABC
|
|
|
|
from common.realtime import DT_CTRL
|
|
from common.numpy_fast import clip
|
|
|
|
MIN_STEER_SPEED = 0.3
|
|
|
|
|
|
class LatControl(ABC):
|
|
def __init__(self, CP, CI):
|
|
self.sat_count_rate = 1.0 * DT_CTRL
|
|
self.sat_limit = CP.steerLimitTimer
|
|
self.sat_count = 0.
|
|
|
|
@abstractmethod
|
|
def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate):
|
|
pass
|
|
|
|
def reset(self):
|
|
self.sat_count = 0.
|
|
|
|
def _check_saturation(self, saturated, CS):
|
|
if saturated and CS.vEgo > 10. and not CS.steeringRateLimited and not CS.steeringPressed:
|
|
self.sat_count += self.sat_count_rate
|
|
else:
|
|
self.sat_count -= self.sat_count_rate
|
|
self.sat_count = clip(self.sat_count, 0.0, 1.0)
|
|
return self.sat_count > self.sat_limit
|