mawei/onepilot
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Fixes global saturation change

Browse Source 
old-commit-hash: 97eb55cc55eea527dc442acd4f27ef55540d7c1e
This commit is contained in:
Ted Slesinski
2017-06-20 02:30:56 -04:00
parent 3a13a02119
commit 25d9753df2
4 changed files with 5 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
common/fingerprints.py
View File

@@ -127,7 +127,7 @@ def fingerprint(logcan):
elif candidate_cars[0] == "HONDA ACCORD 2016 TOURING":
ret.steerKp, ret.steerKi = 12.0, 1.0
elif candidate_cars[0] == "HONDA CR-V 2016 TOURING":
ret.steerKp, ret.steerKi = 14.0, 1.67
ret.steerKp, ret.steerKi = 6.0, 0.5
else:
raise ValueError("unsupported car %s" % candidate_cars[0])

2
dbcs/honda_crv_touring_2016_can.dbc
View File

@@ -87,7 +87,7 @@ BO_ 401 GEARBOX: 8 PCM
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
BO_ 404 STEERING_CONTROL: 4 NEO
SG_ STEER_TORQUE : 7|16@0- (1,0) [-2047.5|2047.5] "" EPS
SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS
SG_ SET_ME_X00 : 11|4@0+ (1,0) [0|15] "" EPS
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS

3
selfdrive/car/honda/carcontroller.py
View File

@@ -141,7 +141,7 @@ class CarController(object):
GAS_MAX = 1004
BRAKE_MAX = 1024/4
if CS.crv:
STEER_MAX = 0x380 # CR-V only uses 12-bits and requires a lower value
STEER_MAX = 0x300 # CR-V only uses 12-bits and requires a lower value
else:
STEER_MAX = 0xF00
GAS_OFFSET = 328
@@ -149,7 +149,6 @@ class CarController(object):
# steer torque is converted back to CAN reference (positive when steering right)
apply_gas = int(clip(final_gas*GAS_MAX, 0, GAS_MAX-1))
apply_brake = int(clip(final_brake*BRAKE_MAX, 0, BRAKE_MAX-1))
# crvtodo: tweak steering to match precision of 0xE4 code.
apply_steer = int(clip(-final_steer*STEER_MAX, -STEER_MAX, STEER_MAX))
# no gas if you are hitting the brake or the user is

4
selfdrive/controls/lib/latcontrol.py
View File

@@ -13,7 +13,7 @@ def calc_d_lookahead(v_ego):
# howfar we look ahead is function of speed
offset_lookahead = 1.
coeff_lookahead = 4.4
# sqrt on speed is needed to keep, for a given curvature, the y_offset
# sqrt on speed is needed to keep, for a given curvature, the y_offset
# proportional to speed. Indeed, y_offset is prop to d_lookahead^2
# 26m at 25m/s
d_lookahead = offset_lookahead + math.sqrt(max(v_ego, 0)) * coeff_lookahead
@@ -31,7 +31,7 @@ def pid_lateral_control(v_ego, y_actual, y_des, Ui_steer, steer_max,
steer_override, sat_count, enabled, Kp, Ki, rate):
sat_count_rate = 1./rate
sat_count_limit = 1.2 # after 0.8s of continuous saturation, an alert will be sent
sat_count_limit = 0.8 # after 0.8s of continuous saturation, an alert will be sent
error_steer = y_des - y_actual
Ui_unwind_speed = 0.3/rate #.3 per second