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89 lines
3.5 KiB
89 lines
3.5 KiB
3 years ago
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<?xml version='1.0' encoding='UTF-8'?>
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<root>
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<tabbed_widget parent="main_window" name="Main Window">
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<Tab tab_name="tab1" containers="1">
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<Container>
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<DockSplitter count="4" sizes="0.250401;0.249599;0.250401;0.249599" orientation="-">
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<DockArea name="...">
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<plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
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<range top="4.389691" right="179.991353" bottom="-0.521339" left="0.000000"/>
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<limitY/>
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<curve name="/controlsState/lateralControlState/torqueState/actualLateralAccel" color="#1f77b4"/>
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<curve name="/controlsState/lateralControlState/torqueState/desiredLateralAccel" color="#d62728"/>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
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<range top="4.066465" right="179.991353" bottom="-0.758832" left="0.000000"/>
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<limitY/>
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<curve name="Actual lateral accel (roll compensated)" color="#1ac938"/>
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<curve name="Desired lateral accel (roll compensated)" color="#ff7f0e"/>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
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<range top="0.921389" right="179.991353" bottom="-0.211878" left="0.000000"/>
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<limitY/>
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<curve name="/carControl/actuatorsOutput/steer" color="#9467bd">
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<transform alias="/carControl/actuatorsOutput/steer[Scale/Offset]" name="Scale/Offset">
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<options value_scale="-1" value_offset="0" time_offset="0"/>
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</transform>
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</curve>
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<curve name="/controlsState/lateralControlState/torqueState/f" color="#1f77b4"/>
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</plot>
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</DockArea>
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<DockSplitter count="2" sizes="0.5;0.5" orientation="|">
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<DockArea name="...">
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<plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
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<range top="1.025000" right="179.991353" bottom="-0.025000" left="0.000000"/>
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<limitY/>
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<curve name="/carControl/latActive" color="#1ac938"/>
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<curve name="/carState/steeringPressed" color="#ff7f0e"/>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
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<range top="29.131291" right="179.991353" bottom="-0.711681" left="0.000000"/>
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<limitY/>
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<curve name="/carState/vEgo" color="#f14cc1"/>
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</plot>
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</DockArea>
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</DockSplitter>
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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="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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<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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</customMathEquations>
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<snippets/>
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<!-- - - - - - - - - - - - - - - -->
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</root>
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