mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-19 03:03:57 +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
52 lines
2.0 KiB
Python
52 lines
2.0 KiB
Python
import math
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from selfdrive.controls.lib.pid import PIDController
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from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
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from cereal import log
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class LatControlPID(LatControl):
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def __init__(self, CP, CI):
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super().__init__(CP, CI)
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self.pid = PIDController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
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(CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
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k_f=CP.lateralTuning.pid.kf, pos_limit=1.0, neg_limit=-1.0)
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self.get_steer_feedforward = CI.get_steer_feedforward_function()
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def reset(self):
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super().reset()
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self.pid.reset()
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def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
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pid_log = log.ControlsState.LateralPIDState.new_message()
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pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
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pid_log.steeringRateDeg = float(CS.steeringRateDeg)
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angle_steers_des_no_offset = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
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angle_steers_des = angle_steers_des_no_offset + params.angleOffsetDeg
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error = angle_steers_des - CS.steeringAngleDeg
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pid_log.steeringAngleDesiredDeg = angle_steers_des
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pid_log.angleError = error
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if CS.vEgo < MIN_STEER_SPEED or not active:
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output_steer = 0.0
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pid_log.active = False
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self.pid.reset()
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else:
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self.pid.pos_limit = self.steer_max
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self.pid.neg_limit = -self.steer_max
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# offset does not contribute to resistive torque
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steer_feedforward = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
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output_steer = self.pid.update(error, override=CS.steeringPressed,
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feedforward=steer_feedforward, speed=CS.vEgo)
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pid_log.active = True
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pid_log.p = self.pid.p
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pid_log.i = self.pid.i
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pid_log.f = self.pid.f
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pid_log.output = output_steer
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pid_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS)
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return output_steer, angle_steers_des, pid_log
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