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Write nicely

craycraycontrol2
Harald Schafer 2022-03-25 17:54:47 -07:00
parent fa0fb63ad6
commit df5cad47c1
1 changed files with 13 additions and 5 deletions
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18
selfdrive/controls/lib/latcontrol_craycray.py
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@ -2,6 +2,8 @@ from selfdrive.controls.lib.pid import PIController
from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
from cereal import log
CURVATURE_SCALE = 200
class LatControlCrayCray(LatControl):
def __init__(self, CP, CI):
@ -13,6 +15,7 @@ class LatControlCrayCray(LatControl):
self.steer_max = 1.0
self.pid.pos_limit = self.steer_max
self.pid.neg_limit = -self.steer_max
self.use_steering_angle = False
def reset(self):
super().reset()
@ -31,13 +34,18 @@ class LatControlCrayCray(LatControl):
self.pid.reset()
else:
# TODO lateral acceleration works great at high speed, not so much at low speed
lateral_accel_desired = desired_curvature * CS.vEgo**2
lateral_accel_actual = llk.angularVelocityCalibrated.value[2] * CS.vEgo
if self.use_steering_angle:
actual_curvature = VM.calc_curvature(-(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
else:
actual_curvature = llk.angularVelocityCalibrated.value[2] / CS.vEgo
desired_lateral_accel = desired_curvature * CS.vEgo**2
actual_lateral_accel = actual_curvature * CS.vEgo**2
deadzone = 0.0
setpoint = desired_lateral_accel + CURVATURE_SCALE * desired_curvature
measurement = actual_lateral_accel + CURVATURE_SCALE * actual_curvature
output_torque = self.pid.update(lateral_accel_desired, lateral_accel_actual, override=CS.steeringPressed,
feedforward=lateral_accel_desired, speed=CS.vEgo, deadzone=deadzone)
output_torque = self.pid.update(setpoint, measurement, override=CS.steeringPressed,
feedforward=desired_lateral_accel, speed=CS.vEgo)
pid_log.active = True
pid_log.p = self.pid.p
pid_log.i = self.pid.i