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Joystick: improve angle control (#33475)

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* calculate max angle/curvature with speed

* don't inflate to inf

* screw radians

* up limit a bit
This commit is contained in:
Shane Smiskol
2024-09-04 16:29:04 -07:00
committed by GitHub
parent f247663727
commit 54a2626e44
1 changed files with 6 additions and 2 deletions
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8
selfdrive/controls/controlsd.py
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@@ -38,6 +38,8 @@ LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
LANE_DEPARTURE_THRESHOLD = 0.1
CAMERA_OFFSET = 0.04
JOYSTICK_MAX_LAT_ACCEL = 2.5 # m/s^2
REPLAY = "REPLAY" in os.environ
SIMULATION = "SIMULATION" in os.environ
TESTING_CLOSET = "TESTING_CLOSET" in os.environ
@@ -591,9 +593,11 @@ class Controls:
actuators.accel = 4.0*clip(joystick_axes[0], -1, 1)
if CC.latActive:
max_curvature = JOYSTICK_MAX_LAT_ACCEL / max(CS.vEgo ** 2, 1)
max_angle = math.degrees(self.VM.get_steer_from_curvature(max_curvature, CS.vEgo, lp.roll))
steer = clip(joystick_axes[1], -1, 1)
# max angle is 45 for angle-based cars, max curvature is 0.02
actuators.steer, actuators.steeringAngleDeg, actuators.curvature = steer, steer * 90., steer * -0.02
actuators.steer, actuators.steeringAngleDeg, actuators.curvature = steer, steer * max_angle, steer * -max_curvature
lac_log.active = self.active
lac_log.steeringAngleDeg = CS.steeringAngleDeg