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int(round()) on apply_steer for correct comparison after rate limiting (#20425)

pull/20505/head
qadmus 2021-03-22 05:01:33 -07:00 committed by GitHub
parent 647c5804b8
commit 0d61d8a4b6
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 3 additions and 3 deletions
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2
selfdrive/car/chrysler/carcontroller.py
View File

@ -24,7 +24,7 @@ class CarController():
# *** compute control surfaces ***
# steer torque
new_steer = actuators.steer * CarControllerParams.STEER_MAX
new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last,
CS.out.steeringTorqueEps, CarControllerParams)
self.steer_rate_limited = new_steer != apply_steer

2
selfdrive/car/gm/carcontroller.py
View File

@ -35,7 +35,7 @@ class CarController():
if (frame % P.STEER_STEP) == 0:
lkas_enabled = enabled and not CS.out.steerWarning and CS.out.vEgo > P.MIN_STEER_SPEED
if lkas_enabled:
new_steer = actuators.steer * P.STEER_MAX
new_steer = int(round(actuators.steer * P.STEER_MAX))
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P)
self.steer_rate_limited = new_steer != apply_steer
else:

2
selfdrive/car/hyundai/carcontroller.py
View File

@ -45,7 +45,7 @@ class CarController():
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert,
left_lane, right_lane, left_lane_depart, right_lane_depart):
# Steering Torque
new_steer = actuators.steer * self.p.STEER_MAX
new_steer = int(round(actuators.steer * self.p.STEER_MAX))
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
self.steer_rate_limited = new_steer != apply_steer