56 lines
2.3 KiB
Python
56 lines
2.3 KiB
Python
from selfdrive.controls.lib.pid import PIController
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from selfdrive.controls.lib.drive_helpers import get_steer_max
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from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
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from cereal import log
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class LatControlPID(LatControl):
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def __init__(self, CP, CI):
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super().__init__(CP, CI)
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self.pid = PIController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
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(CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
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k_f=CP.lateralTuning.pid.kf, pos_limit=1.0, neg_limit=-1.0)
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self.get_steer_feedforward = CI.get_steer_feedforward_function()
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def reset(self):
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super().reset()
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self.pid.reset()
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def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
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pid_log = log.ControlsState.LateralPIDState.new_message()
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#pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
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#pid_log.steeringRateDeg = float(CS.steeringRateDeg)
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#angle_steers_des_no_offset = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
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#angle_steers_des = angle_steers_des_no_offset + params.angleOffsetDeg
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#pid_log.steeringAngleDesiredDeg = angle_steers_des
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#pid_log.angleError = angle_steers_des - CS.steeringAngleDeg
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if CS.vEgo < MIN_STEER_SPEED or not active:
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output_steer = 0.0
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pid_log.active = False
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self.pid.reset()
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else:
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steers_max = get_steer_max(CP, CS.vEgo)
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self.pid.pos_limit = steers_max
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self.pid.neg_limit = -steers_max
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lateral_accel_desired = desired_curvature * CS.vEgo**2
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lateral_accel_actual = llk.angularVelocityCalibrated.value[0] * CS.vEgo
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# offset does not contribute to resistive torque
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steer_feedforward = (lateral_accel_desired - 9.81 * llk.orientationNED.value[0])/2.0
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deadzone = 0.0
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output_steer = self.pid.update(lateral_accel_desired, lateral_accel_actual, override=CS.steeringPressed,
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feedforward=steer_feedforward, speed=CS.vEgo, deadzone=deadzone)
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pid_log.active = True
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pid_log.p = self.pid.p
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pid_log.i = self.pid.i
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pid_log.f = self.pid.f
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pid_log.output = output_steer
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pid_log.saturated = self._check_saturation(steers_max - abs(output_steer) < 1e-3, CS)
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return output_steer, 0.0, pid_log
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