PID: no more ff gain (#36398)

* No more ff gain

* typo

common/pid.py

@@ -2,11 +2,10 @@ import numpy as np
 from numbers import Number
 
 class PIDController:
-  def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
+  def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
     self._k_p = k_p
     self._k_i = k_i
     self._k_d = k_d
-    self.k_f = k_f   # feedforward gain
     if isinstance(self._k_p, Number):
       self._k_p = [[0], [self._k_p]]
     if isinstance(self._k_i, Number):
@@ -48,7 +47,7 @@ class PIDController:
     self.speed = speed
     self.p = self.k_p * float(error)
     self.d = self.k_d * error_rate
-    self.f = self.k_f * feedforward
+    self.f = feedforward
 
     if not freeze_integrator:
       i = self.i + self.k_i * self.i_dt * error

selfdrive/controls/lib/latcontrol_pid.py

@@ -10,7 +10,8 @@ class LatControlPID(LatControl):
     super().__init__(CP, CI, dt)
     self.pid = PIDController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
                              (CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
-                             k_f=CP.lateralTuning.pid.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
+                             pos_limit=self.steer_max, neg_limit=-self.steer_max)
+    self.ff_factor = CP.lateralTuning.pid.kf
     self.get_steer_feedforward = CI.get_steer_feedforward_function()
 
   def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay):
@@ -30,7 +31,7 @@ class LatControlPID(LatControl):
 
     else:
       # offset does not contribute to resistive torque
-      ff = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
+      ff = self.ff_factor * self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
       freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
 
       output_torque = self.pid.update(error,

selfdrive/controls/lib/latcontrol_torque.py

@@ -32,8 +32,7 @@ class LatControlTorque(LatControl):
     self.torque_params = CP.lateralTuning.torque.as_builder()
     self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
     self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
-    self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
-                             k_f=self.torque_params.kf, rate=1/self.dt)
+    self.pid = PIDController(self.torque_params.kp, self.torque_params.ki, rate=1/self.dt)
     self.update_limits()
     self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
     self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES = int(1 / self.dt)

selfdrive/controls/lib/longcontrol.py

@@ -50,7 +50,7 @@ class LongControl:
     self.long_control_state = LongCtrlState.off
     self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
                              (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
-                             k_f=CP.longitudinalTuning.kf, rate=1 / DT_CTRL)
+                             rate=1 / DT_CTRL)
     self.last_output_accel = 0.0
 
   def reset(self):

system/hardware/fan_controller.py

@@ -18,7 +18,7 @@ class TiciFanController(BaseFanController):
     cloudlog.info("Setting up TICI fan handler")
 
     self.last_ignition = False
-    self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_HW))
+    self.controller = PIDController(k_p=0, k_i=4e-3, rate=(1 / DT_HW))
 
   def update(self, cur_temp: float, ignition: bool) -> int:
     self.controller.pos_limit = 100 if ignition else 30