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controlsd: set steer_limited for angle cars (#26748)

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* Set steer limited for angle cars

* closer to torque threshold
old-commit-hash: c1b3d696bc5bdd799a937f569c94e0834230c89e
This commit is contained in:
Shane Smiskol
2022-12-09 21:43:27 -08:00
committed by GitHub
parent 8c4d019e7e
commit 333464b3d3
2 changed files with 7 additions and 3 deletions
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8
selfdrive/controls/controlsd.py
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@@ -21,7 +21,7 @@ from selfdrive.controls.lib.latcontrol import LatControl
from selfdrive.controls.lib.longcontrol import LongControl
from selfdrive.controls.lib.latcontrol_pid import LatControlPID
from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
from selfdrive.controls.lib.latcontrol_angle import LatControlAngle
from selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
from selfdrive.controls.lib.latcontrol_torque import LatControlTorque
from selfdrive.controls.lib.events import Events, ET
from selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
@@ -722,7 +722,11 @@ class Controls:
self.last_actuators, can_sends = self.CI.apply(CC)
self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
CC.actuatorsOutput = self.last_actuators
self.steer_limited = abs(CC.actuators.steer - CC.actuatorsOutput.steer) > 1e-2
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
self.steer_limited = abs(CC.actuators.steeringAngleDeg - CC.actuatorsOutput.steeringAngleDeg) > \
STEER_ANGLE_SATURATION_THRESHOLD
else:
self.steer_limited = abs(CC.actuators.steer - CC.actuatorsOutput.steer) > 1e-2
force_decel = (self.sm['driverMonitoringState'].awarenessStatus < 0.) or \
(self.state == State.softDisabling)

2
selfdrive/controls/lib/latcontrol_angle.py
View File

@@ -19,7 +19,7 @@ class LatControlAngle(LatControl):
angle_steers_des += params.angleOffsetDeg
angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
angle_log.saturated = self._check_saturation(angle_control_saturated, CS, steer_limited)
angle_log.saturated = self._check_saturation(angle_control_saturated, CS, False)
angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
angle_log.steeringAngleDesiredDeg = angle_steers_des
return 0, float(angle_steers_des), angle_log