Add angular rates carcontroller packet (#23980)
* Controlsd: give carcontroller angular rates * Update cereal * Needs to be list * Update refspull/23745/head
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Subproject commit 64b6014193a69fe2e2b3b7a17f9e228162081ddf
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Subproject commit 85406f66760b30700c27aace228f5e480f3a5bbe
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@ -572,10 +572,14 @@ class Controls:
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def publish_logs(self, CS, start_time, CC, lac_log):
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"""Send actuators and hud commands to the car, send controlsstate and MPC logging"""
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orientation_value = self.sm['liveLocationKalman'].orientationNED.value
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# Orientation and angle rates can be useful for carcontroller
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# Only calibrated (car) frame is relevant for the carcontroller
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orientation_value = list(self.sm['liveLocationKalman'].calibratedOrientationNED.value)
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if len(orientation_value) > 2:
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CC.roll = orientation_value[0]
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CC.pitch = orientation_value[1]
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CC.orientationNED = orientation_value
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angular_rate_value = list(self.sm['liveLocationKalman'].angularVelocityCalibrated.value)
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if len(angular_rate_value) > 2:
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CC.angularVelocity = angular_rate_value
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CC.cruiseControl.cancel = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise)
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if self.joystick_mode and self.sm.rcv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
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@ -1 +1 @@
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927918307b45657df0a4ac0255c3e8e3dc62d7cd
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61bac237e228da19e59d456c883f99a92172d217
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