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joystick lateral jerk based steering rate limit

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dzid26
2026-01-01 18:16:02 +00:00
committed by mmoo758
parent eccc576560
commit 134a52ed9d
1 changed files with 29 additions and 10 deletions
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39
tools/joystick/joystickd.py
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@@ -13,6 +13,7 @@ from opendbc.car.interfaces import get_interface_attr
LongCtrlState = car.CarControl.Actuators.LongControlState LongCtrlState = car.CarControl.Actuators.LongControlState
MAX_LAT_ACCEL = 3.0 MAX_LAT_ACCEL = 3.0
MAX_LAT_JERK = 1.5
def joystickd_thread(): def joystickd_thread():
@@ -21,20 +22,22 @@ def joystickd_thread():
CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams) CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
VM = VehicleModel(CP) VM = VehicleModel(CP)
car_angle_max = None # get max angle from car brand params
max_angle = 450
try: try:
car_params = get_interface_attr('CarControllerParams') car_params = get_interface_attr('CarControllerParams')
if car_params and CP.carFingerprint in car_params: if car_params and CP.carFingerprint in car_params:
angle_limits = car_params[CP.carFingerprint].ANGLE_LIMITS angle_limits = car_params[CP.carFingerprint].ANGLE_LIMITS
if hasattr(angle_limits, 'steerAngleMax'): if hasattr(angle_limits, 'steerAngleMax'):
car_angle_max = angle_limits.steerAngleMax max_angle = angle_limits.steerAngleMax
except Exception: except Exception:
pass # Fall back to the existing max_angle if anything goes wrong pass
sm = messaging.SubMaster(['carState', 'onroadEvents', 'liveParameters', 'selfdriveState', 'testJoystick'], frequency=1. / DT_CTRL) sm = messaging.SubMaster(['carState', 'onroadEvents', 'liveParameters', 'selfdriveState', 'testJoystick'], frequency=1. / DT_CTRL)
pm = messaging.PubMaster(['carControl', 'controlsState']) pm = messaging.PubMaster(['carControl', 'controlsState'])
rk = Ratekeeper(100, print_delay_threshold=None) rk = Ratekeeper(100, print_delay_threshold=None)
prev_curvature = 0.0
while 1: while 1:
sm.update(0) sm.update(0)
@@ -65,16 +68,32 @@ def joystickd_thread():
CC.cruiseControl.resume = actuators.accel > 0.0 CC.cruiseControl.resume = actuators.accel > 0.0
if CC.latActive: if CC.latActive:
max_curvature = MAX_LAT_ACCEL / max(sm['carState'].vEgo ** 2, 5) steer_input = float(np.clip(joystick_axes[1], -1, 1))
max_angle = math.degrees(VM.get_steer_from_curvature(max_curvature, sm['carState'].vEgo, sm['liveParameters'].roll))
if car_angle_max is not None: # limit lateral acceleration and jerk for non-torque cars
max_angle = min(max_angle, car_angle_max) v_ego = sm['carState'].vEgo
roll = sm['liveParameters'].roll
max_curvature = MAX_LAT_ACCEL / max(v_ego ** 2, 5)
max_curvature_rate = (MAX_LAT_JERK / max(v_ego ** 2, 5))
max_angle = min(max_angle, 390) # keep the PSA limit as a hard cap max_curvature_from_angle = abs(VM.calc_curvature(math.radians(max_angle), v_ego, roll))
target_curvature = steer_input * min(max_curvature, max_curvature_from_angle)
actuators.torque = -float(np.clip(joystick_axes[1], -1, 1)) # rate-imit only when moving away from the center
actuators.steeringAngleDeg, actuators.curvature = actuators.torque * max_angle, actuators.torque * -max_curvature # snappy centering helps user with correcting the input
up = float(np.clip(target_curvature - prev_curvature, -np.inf, max_curvature_rate * DT_CTRL))
down = float(np.clip(target_curvature - prev_curvature, -max_curvature_rate * DT_CTRL, np.inf))
curvature = prev_curvature + (up if target_curvature > 0.0 else down)
angle = math.degrees(VM.get_steer_from_curvature(curvature, v_ego, roll))
actuators.torque = -steer_input
actuators.curvature = curvature
actuators.steeringAngleDeg = -angle
prev_curvature = curvature
else:
prev_curvature = 0.0
pm.send('carControl', cc_msg) pm.send('carControl', cc_msg)