mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-19 06:33:57 +08:00
fe0bcdaef6
* Initial commit * Fix bugs * Need more torque rate * Cleanup cray cray control * Write nicely * Chiiil * Not relevant for cray cray control * Do some logging * Seems like it has more torque than I thought * Bit more feedforward * Tune change * Retune * Retune * Little more chill * Add coroll * Add corolla * Give craycray a good name * Update to proper logging * D to the PI * Should be in radians * Add d * Start oscillations * Add D term * Only change torque rate limits for new tune * Add d logging * Should be enough * Wrong sign in D * Downtune a little * Needed to prevent faults * Add lqr rav4 to tune * Try derivative again * Data based retune * Data based retune * add friction compensation * Doesnt need too much P with friction comp * remove lqr * Remove kd * Fix tests * fix tests * Too much error * Get roll induced error under 1cm/deg * Too much jitter * Do roll comp * Add ki * Final update * Update refs * Cleanup latcontrol_torque a little more
32 lines
909 B
Python
32 lines
909 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.
|
|
|
|
# we define the steer torque scale as [-1.0...1.0]
|
|
self.steer_max = 1.0
|
|
|
|
@abstractmethod
|
|
def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
|
|
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, self.sat_limit)
|
|
return self.sat_count > (self.sat_limit - 1e-3)
|