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PlotJuggler: Updated layout for torque controller (#36123)

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* PlotJuggler: Updated layout for torque controller

* yeah, no
pull/36130/head
Jason Young 1 week ago committed by GitHub
parent ea53111afc
commit 2bfdd0d61d
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2 changed files with 131 additions and 126 deletions
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  1. 2
      pyproject.toml
  2. 255
      tools/plotjuggler/layouts/torque-controller.xml

2
pyproject.toml
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@ -176,7 +176,7 @@ quiet-level = 3
# if you've got a short variable name that's getting flagged, add it here
ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite"
builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*"
skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*"
[tool.mypy]
python_version = "3.11"

255
tools/plotjuggler/layouts/torque-controller.xml
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@ -1,193 +1,180 @@
<?xml version='1.0' encoding='UTF-8'?>
<root>
<tabbed_widget parent="main_window" name="Main Window">
<tabbed_widget name="Main Window" parent="main_window">
<Tab containers="1" tab_name="Lateral Plan Conformance">
<Container>
<DockSplitter count="4" sizes="0.25;0.25;0.25;0.25" orientation="-">
<DockSplitter orientation="-" count="4" sizes="0.250949;0.249051;0.250949;0.249051">
<DockArea name="desired vs actual lateral acceleration (closer means better conformance to plan)">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="3.586831" right="269.643117" left="0.000140" bottom="-2.354077"/>
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
<range top="1.858161" bottom="-1.823407" right="1138.891674" left="0.000194"/>
<limitY/>
<curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
<curve color="#d62728" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel"/>
<curve name="/controlsState/lateralControlState/torqueState/actualLateralAccel" color="#1f77b4"/>
<curve name="/controlsState/lateralControlState/torqueState/desiredLateralAccel" color="#d62728"/>
</plot>
</DockArea>
<DockArea name="desired vs actual lateral acceleration, road-roll factored out (closer means better conformance to plan)">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="3.445087" right="269.643117" left="0.000140" bottom="-2.654874"/>
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
<range top="2.749816" bottom="-3.723091" right="1138.891674" left="0.000194"/>
<limitY/>
<curve color="#1ac938" name="Actual lateral accel (roll compensated)"/>
<curve color="#ff7f0e" name="Desired lateral accel (roll compensated)"/>
<curve name="Actual lateral accel (roll compensated)" color="#1ac938"/>
<curve name="Desired lateral accel (roll compensated)" color="#ff7f0e"/>
</plot>
</DockArea>
<DockArea name="controller feed-forward vs actuator output (closer means controller prediction is more accurate)">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="1.082031" right="269.643117" left="0.000140" bottom="-1.050781"/>
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
<range top="1.978032" bottom="-1.570956" right="1138.891674" left="0.000194"/>
<limitY/>
<curve color="#9467bd" name="/carOutput/actuatorsOutput/torque">
<curve name="/carOutput/actuatorsOutput/torque" color="#9467bd">
<transform alias="/carOutput/actuatorsOutput/torque[Scale/Offset]" name="Scale/Offset">
<options value_scale="-1" time_offset="0" value_offset="0"/>
<options value_offset="0" value_scale="-1" time_offset="0"/>
</transform>
</curve>
<curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/f"/>
<curve color="#ff000f" name="/carState/steeringPressed"/>
<curve name="/controlsState/lateralControlState/torqueState/f" color="#1f77b4"/>
<curve name="/carState/steeringPressed" color="#ff000f"/>
</plot>
</DockArea>
<DockArea name="vehicle speed">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="101.506277" right="269.643117" left="0.000140" bottom="-2.475763"/>
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
<range top="105.981304" bottom="-2.709314" right="1138.891674" left="0.000194"/>
<limitY/>
<curve color="#d62728" name="carState.vEgo mph"/>
<curve color="#1ac938" name="carState.vEgo kmh"/>
<curve color="#ff7f0e" name="/carState/vEgo"/>
<curve name="carState.vEgo mph" color="#d62728"/>
<curve name="carState.vEgo kmh" color="#1ac938"/>
<curve name="/carState/vEgo" color="#ff7f0e"/>
</plot>
</DockArea>
</DockSplitter>
</Container>
</Tab>
<Tab containers="1" tab_name="Actuator Performance">
<Tab containers="1" tab_name="Vehicle Dynamics">
<Container>
<DockSplitter count="3" sizes="0.33361;0.33278;0.33361" orientation="-">
<DockArea name="offline-calculated vs online-learned lateral accel scaling factor, accel obtained from 100% actuator output">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="4.186453" right="269.490213" left="0.000000" bottom="3.175940"/>
<DockSplitter orientation="-" count="3" sizes="0.334282;0.331437;0.334282">
<DockArea name="configured-initial vs online-learned steerRatio, set configured value to match learned">
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
<range top="19.665784" bottom="19.359553" right="1138.816328" left="0.000000"/>
<limitY/>
<curve color="#1f77b4" name="/liveTorqueParameters/latAccelFactorFiltered"/>
<curve color="#d62728" name="/liveTorqueParameters/latAccelFactorRaw"/>
<curve color="#1c9222" name="/carParams/lateralTuning/torque/latAccelFactor"/>
<curve name="/carParams/steerRatio" color="#1f77b4"/>
<curve name="/liveParameters/steerRatio" color="#1ac938"/>
</plot>
</DockArea>
<DockArea name="learned lateral accel offset, vehicle-specific compensation to obtain true zero lateral accel">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="0.003035" right="269.490213" left="0.000000" bottom="-0.124417"/>
<DockArea name="configured-initial vs online-learned tireStiffnessRatio, set configured value to match learned">
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
<range top="1.112210" bottom="0.995631" right="1138.816328" left="0.000000"/>
<limitY/>
<curve color="#1ac938" name="/liveTorqueParameters/latAccelOffsetFiltered"/>
<curve color="#ff7f0e" name="/liveTorqueParameters/latAccelOffsetRaw"/>
<curve name="/carParams/tireStiffnessFactor" color="#d62728"/>
<curve name="/liveParameters/stiffnessFactor" color="#ff7f0e"/>
</plot>
</DockArea>
<DockArea name="offline-calculated vs online-learned EPS friction factor, necessary to start moving the steering wheel">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="0.121143" right="269.490213" left="0.000000" bottom="-0.002955"/>
<DockArea name="live steering angle offsets for straight-ahead driving, large values here may indicate alignment problems">
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
<range top="-1.081041" bottom="-4.494133" right="1138.816328" left="0.000000"/>
<limitY/>
<curve color="#f14cc1" name="/liveTorqueParameters/frictionCoefficientFiltered"/>
<curve color="#9467bd" name="/liveTorqueParameters/frictionCoefficientRaw"/>
<curve color="#1c9222" name="/carParams/lateralTuning/torque/friction"/>
<curve name="/liveParameters/angleOffsetAverageDeg" color="#f14cc1"/>
<curve name="/liveParameters/angleOffsetDeg" color="#9467bd"/>
</plot>
</DockArea>
</DockSplitter>
</Container>
</Tab>
<Tab containers="1" tab_name="Vehicle Dynamics">
<Tab containers="1" tab_name="Actuator Performance">
<Container>
<DockSplitter count="3" sizes="0.33361;0.33278;0.33361" orientation="-">
<DockArea name="configured-initial vs online-learned steerRatio, set configured value to match learned">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="12.903705" right="269.638801" left="0.000000" bottom="12.748092"/>
<DockSplitter orientation="-" count="3" sizes="0.333333;0.333333;0.333333">
<DockArea name="offline-calculated vs online-learned lateral accel scaling factor, accel obtained from 100% actuator output">
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
<range top="1.216110" bottom="0.539474" right="1138.920072" left="0.000000"/>
<limitY/>
<curve color="#1f77b4" name="/carParams/steerRatio"/>
<curve color="#1ac938" name="/liveParameters/steerRatio"/>
<curve name="/liveTorqueParameters/latAccelFactorFiltered" color="#1f77b4"/>
<curve name="/liveTorqueParameters/latAccelFactorRaw" color="#d62728"/>
<curve name="/carParams/lateralTuning/torque/latAccelFactor" color="#1c9222"/>
</plot>
</DockArea>
<DockArea name="configured-initial vs online-learned tireStiffnessRatio, set configured value to match learned">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="1.000520" right="269.638801" left="0.000000" bottom="0.999718"/>
<DockArea name="learned lateral accel offset, vehicle-specific compensation to obtain true zero lateral accel">
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
<range top="-0.304367" bottom="-0.418688" right="1138.920072" left="0.000000"/>
<limitY/>
<curve color="#d62728" name="/carParams/tireStiffnessFactor"/>
<curve color="#ff7f0e" name="/liveParameters/stiffnessFactor"/>
<curve name="/liveTorqueParameters/latAccelOffsetFiltered" color="#1ac938"/>
<curve name="/liveTorqueParameters/latAccelOffsetRaw" color="#ff7f0e"/>
</plot>
</DockArea>
<DockArea name="live steering angle offsets for straight-ahead driving, large values here may indicate alignment problems">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="-0.332067" right="269.638801" left="0.000000" bottom="-3.149970"/>
<DockArea name="offline-calculated vs online-learned EPS friction factor, necessary to start moving the steering wheel">
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
<range top="0.226389" bottom="0.158050" right="1138.920072" left="0.000000"/>
<limitY/>
<curve color="#f14cc1" name="/liveParameters/angleOffsetAverageDeg"/>
<curve color="#9467bd" name="/liveParameters/angleOffsetDeg"/>
<curve name="/liveTorqueParameters/frictionCoefficientFiltered" color="#f14cc1"/>
<curve name="/liveTorqueParameters/frictionCoefficientRaw" color="#9467bd"/>
<curve name="/carParams/lateralTuning/torque/friction" color="#1c9222"/>
</plot>
</DockArea>
</DockSplitter>
</Container>
</Tab>
<Tab containers="1" tab_name="Controller PIF Terms">
<Tab containers="1" tab_name="Actuator Delay">
<Container>
<DockSplitter count="3" sizes="0.33361;0.33278;0.33361" orientation="-">
<DockArea name="controller feed-forward vs actuator output (closer means controller prediction is more accurate)">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="1.082031" right="269.643117" left="0.000140" bottom="-1.050781"/>
<DockSplitter orientation="-" count="3" sizes="0.30441;0.358464;0.337127">
<DockArea name="actuator lag learning state, 0 = learning, 1 = learned/applying, 2 = invalid">
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
<range top="1.025000" bottom="-0.025000" right="1138.749979" left="0.000000"/>
<limitY/>
<curve color="#9467bd" name="/carOutput/actuatorsOutput/torque">
<transform alias="/carOutput/actuatorsOutput/torque[Scale/Offset]" name="Scale/Offset">
<options value_scale="-1.0" time_offset="0" value_offset="0"/>
</transform>
</curve>
<curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/f"/>
<curve color="#ff000f" name="/carState/steeringPressed"/>
<curve name="/liveDelay/status" color="#ff7f0e"/>
</plot>
</DockArea>
<DockArea name="proportional, integral, and feed-forward terms (actuator output = sum of PIF terms)">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="1.572946" right="269.643117" left="0.000140" bottom="-3.822608"/>
<DockArea name="offline default vs online estimated steering actuator lag">
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
<range top="0.419648" bottom="0.318362" right="1138.749979" left="0.000000"/>
<limitY/>
<curve color="#0ab027" name="/controlsState/lateralControlState/torqueState/f"/>
<curve color="#d62728" name="/controlsState/lateralControlState/torqueState/p"/>
<curve color="#ffaf00" name="/controlsState/lateralControlState/torqueState/i"/>
<curve color="#756a6a" name="Zero"/>
<curve name="/liveDelay/lateralDelay" color="#1f77b4"/>
<curve name="/liveDelay/lateralDelayEstimate" color="#d62728"/>
<curve name="opendbc default steering lag" color="#1ac938"/>
</plot>
</DockArea>
<DockArea name="road roll angle, from openpilot localizer">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="0.059127" right="269.643117" left="0.000140" bottom="-0.031841"/>
<DockArea name="online estimated steering actuator lag, standard deviation">
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
<range top="0.067320" bottom="-0.001642" right="1138.749979" left="0.000000"/>
<limitY/>
<curve color="#f14cc1" name="/liveParameters/roll"/>
<curve name="/liveDelay/lateralDelayEstimateStd" color="#f14cc1"/>
</plot>
</DockArea>
</DockSplitter>
</Container>
</Tab>
<Tab containers="1" tab_name="Actuator Delay Estimation">
<Tab containers="1" tab_name="Controls Performance">
<Container>
<DockSplitter count="4" sizes="0.25;0.25;0.25;0.25" orientation="-">
<DockArea name="desired vs actual lateral acceleration (baseline)">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
<DockSplitter orientation="-" count="4" sizes="0.265655;0.251898;0.245731;0.236717">
<DockArea name="rate-of-change limits on steering actuator (blue = original, green = rate-limited before CAN output)">
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
<range top="1.050000" bottom="-1.050000" right="1138.891921" left="0.000194"/>
<limitY/>
<curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel"/>
<curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
<curve name="/carControl/actuators/torque" color="#0c00f2"/>
<curve name="/carOutput/actuatorsOutput/torque" color="#2cd63a"/>
</plot>
</DockArea>
<DockArea name="desired vs actual lateral acceleration (desired shifted by +0.1s)">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
<DockArea name="controller feed-forward vs actuator output (closer means controller prediction is more accurate)">
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
<range top="1.978032" bottom="-1.570956" right="1138.891921" left="0.000194"/>
<limitY/>
<curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
<transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
<options value_scale="1.0" time_offset="0.1" value_offset="0"/>
<curve name="/carOutput/actuatorsOutput/torque" color="#9467bd">
<transform alias="/carOutput/actuatorsOutput/torque[Scale/Offset]" name="Scale/Offset">
<options value_offset="0" value_scale="-1.0" time_offset="0"/>
</transform>
</curve>
<curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
<curve name="/controlsState/lateralControlState/torqueState/f" color="#1f77b4"/>
<curve name="/carState/steeringPressed" color="#ff000f"/>
</plot>
</DockArea>
<DockArea name="desired vs actual lateral acceleration (desired shifted by +0.2s)">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
<DockArea name="proportional, integral, and feed-forward terms (actuator output = sum of PIF terms)">
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
<range top="2.099784" bottom="-4.027542" right="1138.891921" left="0.000194"/>
<limitY/>
<curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
<transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
<options value_scale="1.0" time_offset="0.2" value_offset="0"/>
</transform>
</curve>
<curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
<curve name="/controlsState/lateralControlState/torqueState/f" color="#0ab027"/>
<curve name="/controlsState/lateralControlState/torqueState/p" color="#d62728"/>
<curve name="/controlsState/lateralControlState/torqueState/i" color="#ffaf00"/>
<curve name="Zero" color="#756a6a"/>
</plot>
</DockArea>
<DockArea name="desired vs actual lateral acceleration (desired shifted by +0.3s)">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
<DockArea name="road roll angle, from openpilot localizer">
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
<range top="0.109446" bottom="-0.045525" right="1138.891921" left="0.000194"/>
<limitY/>
<curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
<transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
<options value_scale="1.0" time_offset="0.3" value_offset="0"/>
</transform>
</curve>
<curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
<curve name="/liveParameters/roll" color="#f14cc1"/>
</plot>
</DockArea>
</DockSplitter>
@ -199,44 +186,62 @@
<!-- - - - - - - - - - - - - - - -->
<!-- - - - - - - - - - - - - - - -->
<Plugins>
<plugin ID="DataLoad CSV">
<default delimiter="0" time_axis=""/>
</plugin>
<plugin ID="DataLoad Rlog"/>
<plugin ID="DataLoad ULog"/>
<plugin ID="Cereal Subscriber"/>
<plugin ID="UDP Server"/>
<plugin ID="ZMQ Subscriber"/>
<plugin ID="Fast Fourier Transform"/>
<plugin ID="Quaternion to RPY"/>
<plugin ID="Reactive Script Editor">
<library code="--[[ Helper function to create a series from arrays&#xa;&#xa; new_series: a series previously created with ScatterXY.new(name)&#xa; prefix: prefix of the timeseries, before the index of the array&#xa; suffix_X: suffix to complete the name of the series containing the X value. If [nil], use the index of the array.&#xa; suffix_Y: suffix to complete the name of the series containing the Y value&#xa; timestamp: usually the tracker_time variable&#xa; &#xa; Example:&#xa; &#xa; Assuming we have multiple series in the form:&#xa; &#xa; /trajectory/node.{X}/position/x&#xa; /trajectory/node.{X}/position/y&#xa; &#xa; where {N} is the index of the array (integer). We can create a reactive series from the array with:&#xa; &#xa; new_series = ScatterXY.new(&quot;my_trajectory&quot;) &#xa; CreateSeriesFromArray( new_series, &quot;/trajectory/node&quot;, &quot;position/x&quot;, &quot;position/y&quot;, tracker_time );&#xa;--]]&#xa;&#xa;function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )&#xa; &#xa; --- clear previous values&#xa; new_series:clear()&#xa; &#xa; --- Append points to new_series&#xa; index = 0&#xa; while(true) do&#xa;&#xa; x = index;&#xa; -- if not nil, get the X coordinate from a series&#xa; if suffix_X ~= nil then &#xa; series_x = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_X) )&#xa; if series_x == nil then break end&#xa; x = series_x:atTime(timestamp)&#x9; &#xa; end&#xa; &#xa; series_y = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_Y) )&#xa; if series_y == nil then break end &#xa; y = series_y:atTime(timestamp)&#xa; &#xa; new_series:push_back(x,y)&#xa; index = index+1&#xa; end&#xa;end&#xa;&#xa;--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]&#xa;&#xa;function GetSeriesNamesByPrefix(prefix)&#xa; -- GetSeriesNames(9 is a built-in function&#xa; all_names = GetSeriesNames()&#xa; filtered_names = {}&#xa; for i, name in ipairs(all_names) do&#xa; -- check the prefix&#xa; if name:find(prefix, 1, #prefix) then&#xa; table.insert(filtered_names, name);&#xa; end&#xa; end&#xa; return filtered_names&#xa;end&#xa;&#xa;--[[ Modify an existing series, applying offsets to all their X and Y values&#xa;&#xa; series: an existing timeseries, obtained with TimeseriesView.find(name)&#xa; delta_x: offset to apply to each x value&#xa; delta_y: offset to apply to each y value &#xa; &#xa;--]]&#xa;&#xa;function ApplyOffsetInPlace(series, delta_x, delta_y)&#xa; -- use C++ indeces, not Lua indeces&#xa; for index=0, series:size()-1 do&#xa; x,y = series:at(index)&#xa; series:set(index, x + delta_x, y + delta_y)&#xa; end&#xa;end&#xa;"/>
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<!-- - - - - - - - - - - - - - - -->
<!-- - - - - - - - - - - - - - - -->
<customMathEquations>
<snippet name="Zero">
<snippet name="carState.vEgo kmh">
<global></global>
<function>return (0)</function>
<linked_source>/carState/canValid</linked_source>
<function>return value * 3.6</function>
<linked_source>/carState/vEgo</linked_source>
</snippet>
<snippet name="Actual lateral accel (roll compensated)">
<snippet name="carState.vEgo mph">
<global></global>
<function>return value * 2.23694</function>
<linked_source>/carState/vEgo</linked_source>
</snippet>
<snippet name="Desired lateral accel (roll compensated)">
<global></global>
<function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
<linked_source>/controlsState/curvature</linked_source>
<linked_source>/controlsState/desiredCurvature</linked_source>
<additional_sources>
<v1>/carState/vEgo</v1>
<v2>/liveParameters/roll</v2>
</additional_sources>
</snippet>
<snippet name="Desired lateral accel (roll compensated)">
<snippet name="Actual lateral accel (roll compensated)">
<global></global>
<function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
<linked_source>/controlsState/desiredCurvature</linked_source>
<linked_source>/controlsState/curvature</linked_source>
<additional_sources>
<v1>/carState/vEgo</v1>
<v2>/liveParameters/roll</v2>
</additional_sources>
</snippet>
<snippet name="carState.vEgo mph">
<snippet name="opendbc default steering lag">
<global></global>
<function>return value * 2.23694</function>
<linked_source>/carState/vEgo</linked_source>
<function>return value + 0.2</function>
<linked_source>/carParams/steerActuatorDelay</linked_source>
</snippet>
<snippet name="carState.vEgo kmh">
<snippet name="Zero">
<global></global>
<function>return value * 3.6</function>
<linked_source>/carState/vEgo</linked_source>
<function>return (0)</function>
<linked_source>/carState/canValid</linked_source>
</snippet>
</customMathEquations>
<snippets/>

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