From f7f0a81d13c9134f6e43aa67005c99b169d532a4 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 27 Apr 2020 14:10:07 -0700 Subject: [PATCH] Remove fake yaw rate from carstate (#1426) * remove fake yaw rate from carstate * update ref --- selfdrive/car/chrysler/interface.py | 4 +--- selfdrive/car/gm/interface.py | 1 - selfdrive/car/mock/interface.py | 4 ++-- selfdrive/car/nissan/interface.py | 1 - selfdrive/car/subaru/interface.py | 2 -- selfdrive/car/toyota/interface.py | 3 +-- selfdrive/test/process_replay/ref_commit | 2 +- 7 files changed, 5 insertions(+), 12 deletions(-) diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 827cdd7f4..3bc1db870 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -1,13 +1,12 @@ #!/usr/bin/env python3 from cereal import car -from selfdrive.config import Conversions as CV from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event from selfdrive.car.chrysler.values import Ecu, ECU_FINGERPRINT, CAR, FINGERPRINTS from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint from selfdrive.car.interfaces import CarInterfaceBase -class CarInterface(CarInterfaceBase): +class CarInterface(CarInterfaceBase): @staticmethod def compute_gb(accel, speed): return float(accel) / 3.0 @@ -67,7 +66,6 @@ class CarInterface(CarInterfaceBase): ret.canValid = self.cp.can_valid and self.cp_cam.can_valid # speeds - ret.yawRate = self.VM.yaw_rate(ret.steeringAngle * CV.DEG_TO_RAD, ret.vEgo) ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False ret.buttonEvents = [] diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 75f4cd459..ee4ef55de 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -120,7 +120,6 @@ class CarInterface(CarInterfaceBase): ret = self.CS.update(self.cp) ret.canValid = self.cp.can_valid - ret.yawRate = self.VM.yaw_rate(ret.steeringAngle * CV.DEG_TO_RAD, ret.vEgo) ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False buttonEvents = [] diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py index dc9724403..3c97fb30f 100755 --- a/selfdrive/car/mock/interface.py +++ b/selfdrive/car/mock/interface.py @@ -73,13 +73,13 @@ class CarInterface(CarInterfaceBase): ret.aEgo = a ret.brakePressed = a < -0.5 - self.yawRate = LPG * self.yaw_rate_meas + (1. - LPG) * self.yaw_rate - ret.yawRate = self.yaw_rate ret.standstill = self.speed < 0.01 ret.wheelSpeeds.fl = self.speed ret.wheelSpeeds.fr = self.speed ret.wheelSpeeds.rl = self.speed ret.wheelSpeeds.rr = self.speed + + self.yawRate = LPG * self.yaw_rate_meas + (1. - LPG) * self.yaw_rate curvature = self.yaw_rate / max(self.speed, 1.) ret.steeringAngle = curvature * self.CP.steerRatio * self.CP.wheelbase * CV.RAD_TO_DEG diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py index 8ff5a901e..6988a5ff7 100644 --- a/selfdrive/car/nissan/interface.py +++ b/selfdrive/car/nissan/interface.py @@ -69,7 +69,6 @@ class CarInterface(CarInterfaceBase): ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam) ret.canValid = self.cp.can_valid and self.cp_adas.can_valid and self.cp_cam.can_valid - ret.yawRate = self.VM.yaw_rate(ret.steeringAngle * CV.DEG_TO_RAD, ret.vEgo) buttonEvents = [] be = car.CarState.ButtonEvent.new_message() diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index 7340b3333..e205c7cc4 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -1,6 +1,5 @@ #!/usr/bin/env python3 from cereal import car -from selfdrive.config import Conversions as CV from selfdrive.car.subaru.values import CAR from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint from selfdrive.car.interfaces import CarInterfaceBase @@ -58,7 +57,6 @@ class CarInterface(CarInterfaceBase): ret.canValid = self.cp.can_valid and self.cp_cam.can_valid ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False - ret.yawRate = self.VM.yaw_rate(ret.steeringAngle * CV.DEG_TO_RAD, ret.vEgo) buttonEvents = [] be = car.CarState.ButtonEvent.new_message() diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index cc3bea8de..267a887b9 100755 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -7,8 +7,8 @@ from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, from selfdrive.swaglog import cloudlog from selfdrive.car.interfaces import CarInterfaceBase -class CarInterface(CarInterfaceBase): +class CarInterface(CarInterfaceBase): @staticmethod def compute_gb(accel, speed): return float(accel) / 3.0 @@ -290,7 +290,6 @@ class CarInterface(CarInterfaceBase): ret = self.CS.update(self.cp, self.cp_cam) ret.canValid = self.cp.can_valid and self.cp_cam.can_valid - ret.yawRate = self.VM.yaw_rate(ret.steeringAngle * CV.DEG_TO_RAD, ret.vEgo) ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False ret.buttonEvents = [] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 95d12658b..d5b9592f0 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -53539b02abaa4d99c580448fcb8127d221c876af \ No newline at end of file +6ac6d827e466d5c8cfc7c0bafb2cd62acea00645 \ No newline at end of file