WIP: Honda Steering Improvements (#983)
* move honda steer params to CarParams * use breakpoints/values from firmware * remove comment * civic fw mod max included deadzone * civic bosch needs to be separate * script to measure steering accuracy * civic tuning * update cr-v values * cleanup * averaging over 10 samples was silly * update stock civic and cr-v tuning * remove comment * update replay expected resultspull/1134/head
Greg Hogan
5 years ago
committed by
GitHub
parent
1328a41a35
commit
57c44e3705
5 changed files with 148 additions and 35 deletions
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#!/usr/bin/env python3 |
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import os |
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import argparse |
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import signal |
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from collections import deque, defaultdict |
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from statistics import mean |
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import cereal.messaging as messaging |
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def sigint_handler(signal, frame): |
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print("handler!") |
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exit(0) |
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signal.signal(signal.SIGINT, sigint_handler) |
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if __name__ == "__main__": |
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parser = argparse.ArgumentParser(description='Sniff a communcation socket') |
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parser.add_argument('--addr', default='127.0.0.1') |
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args = parser.parse_args() |
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if args.addr != "127.0.0.1": |
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os.environ["ZMQ"] = "1" |
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messaging.context = messaging.Context() |
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carControl = messaging.sub_sock('carControl', addr=args.addr, conflate=True) |
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sm = messaging.SubMaster(['carState', 'carControl', 'controlsState'], addr=args.addr) |
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msg_cnt = 0 |
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stats = defaultdict(lambda: {'err': 0, "cnt": 0, "=": 0, "+": 0, "-": 0}) |
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cnt = 0 |
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total_error = 0 |
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while messaging.recv_one(carControl): |
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sm.update() |
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msg_cnt += 1 |
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actual_speed = sm['carState'].vEgo |
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enabled = sm['controlsState'].enabled |
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steer_override = sm['controlsState'].steerOverride |
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# must be above 10 m/s, engaged and not overriding steering |
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if actual_speed > 10.0 and enabled and not steer_override: |
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cnt += 1 |
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# wait 5 seconds after engage/override |
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if cnt >= 500: |
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# calculate error before rounding |
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actual_angle = sm['controlsState'].angleSteers |
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desired_angle = sm['carControl'].actuators.steerAngle |
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angle_error = abs(desired_angle - actual_angle) |
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# round numbers |
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actual_angle = round(actual_angle, 1) |
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desired_angle = round(desired_angle, 1) |
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angle_error = round(angle_error, 2) |
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angle_abs = int(abs(round(desired_angle, 0))) |
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# collect stats |
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stats[angle_abs]["err"] += angle_error |
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stats[angle_abs]["cnt"] += 1 |
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if actual_angle == desired_angle: |
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stats[angle_abs]["="] += 1 |
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else: |
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if desired_angle == 0.: |
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overshoot = True |
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else: |
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overshoot = desired_angle < actual_angle if desired_angle > 0. else desired_angle > actual_angle |
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stats[angle_abs]["+" if overshoot else "-"] += 1 |
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else: |
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cnt = 0 |
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if msg_cnt % 100 == 0: |
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print(chr(27) + "[2J") |
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if cnt != 0: |
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print("COLLECTING ...") |
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else: |
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print("DISABLED (speed too low, not engaged, or steer override)") |
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for k in sorted(stats.keys()): |
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v = stats[k] |
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print(f'angle: {k:#2} | error: {round(v["err"] / v["cnt"], 2):2.2f} | =:{int(v["="] / v["cnt"] * 100):#3}% | +:{int(v["+"] / v["cnt"] * 100):#4}% | -:{int(v["-"] / v["cnt"] * 100):#3}% | count: {v["cnt"]:#4}') |
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@ -1 +1 @@ |
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d0e2657d3a57ba231e3775d3bc901221d8794281 |
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e4fabe28e2223e40376320812ff803e833f72a7f |
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