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https://github.com/sunnypilot/sunnypilot.git
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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
26 lines
1.0 KiB
Python
26 lines
1.0 KiB
Python
import math
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from cereal import log
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from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
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STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees
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class LatControlAngle(LatControl):
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def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
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angle_log = log.ControlsState.LateralAngleState.new_message()
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if CS.vEgo < MIN_STEER_SPEED or 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)
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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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