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92 lines
3.3 KiB
92 lines
3.3 KiB
<?xml version='1.0' encoding='UTF-8'?>
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<root>
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<tabbed_widget name="Main Window" parent="main_window">
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<Tab containers="1" tab_name="tab1">
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<Container>
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<DockSplitter orientation="-" count="4" sizes="0.249724;0.250829;0.249724;0.249724">
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<DockArea name="...">
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<plot flip_y="false" style="Lines" flip_x="false" mode="TimeSeries">
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<range left="0.000450" top="6.050533" right="2483.624998" bottom="-7.599037"/>
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<limitY/>
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<curve color="#1ac938" name="Actual lateral accel (roll compensated)"/>
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<curve color="#ff7f0e" name="Desired lateral accel (roll compensated)"/>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot flip_y="false" style="Lines" flip_x="false" mode="TimeSeries">
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<range left="0.000450" top="5.384416" right="2483.624998" bottom="-7.503945"/>
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<limitY/>
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<curve color="#1ac938" name="roll compensated lateral acceleration"/>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot flip_y="false" style="Lines" flip_x="false" mode="TimeSeries">
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<range left="0.000450" top="1.050000" right="2483.624998" bottom="-1.050000"/>
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<limitY/>
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<curve color="#0097ff" name="/carState/steeringPressed"/>
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<curve color="#d62728" name="/carControl/actuatorsOutput/steer"/>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot flip_y="false" style="Lines" flip_x="false" mode="TimeSeries">
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<range left="0.000450" top="80.762969" right="2483.624998" bottom="-2.181837"/>
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<limitY/>
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<curve color="#f14cc1" name="/carState/vEgo">
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<transform alias="/carState/vEgo[Scale/Offset]" name="Scale/Offset">
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<options value_offset="0" time_offset="0" value_scale="2.23694"/>
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</transform>
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</curve>
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</plot>
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</DockArea>
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</DockSplitter>
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</Container>
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</Tab>
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<currentTabIndex index="0"/>
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</tabbed_widget>
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<use_relative_time_offset enabled="1"/>
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<!-- - - - - - - - - - - - - - - -->
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<!-- - - - - - - - - - - - - - - -->
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<Plugins>
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<plugin ID="DataLoad Rlog"/>
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<plugin ID="Cereal Subscriber"/>
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</Plugins>
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<!-- - - - - - - - - - - - - - - -->
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<!-- - - - - - - - - - - - - - - -->
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<customMathEquations>
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<snippet name="roll compensated lateral acceleration">
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<global></global>
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<function>if (v3 == 0 and v4 == 1) then
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return (value * v1 ^ 2) - (v2 * 9.81)
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end
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return 0</function>
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<linked_source>/controlsState/curvature</linked_source>
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<additional_sources>
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<v1>/carState/vEgo</v1>
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<v2>/liveParameters/roll</v2>
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<v3>/carState/steeringPressed</v3>
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<v4>/carControl/latActive</v4>
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</additional_sources>
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</snippet>
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<snippet name="Desired lateral accel (roll compensated)">
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<global></global>
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<function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
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<linked_source>/controlsState/desiredCurvature</linked_source>
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<additional_sources>
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<v1>/carState/vEgo</v1>
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<v2>/liveParameters/roll</v2>
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</additional_sources>
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</snippet>
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<snippet name="Actual lateral accel (roll compensated)">
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<global></global>
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<function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
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<linked_source>/controlsState/curvature</linked_source>
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<additional_sources>
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<v1>/carState/vEgo</v1>
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<v2>/liveParameters/roll</v2>
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</additional_sources>
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</snippet>
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</customMathEquations>
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<snippets/>
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<!-- - - - - - - - - - - - - - - -->
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</root>
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