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LatControlTorque: log desired/actual lateral accel (#24406)

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* log torque lateral accel

* bump cereal

* update refs

Co-authored-by: Shane Smiskol <shane@smiskol.com>
pull/24424/head
ntegan1 3 years ago committed by GitHub
parent 986a991a09
commit 9a44d4c4e0
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3 changed files with 4 additions and 2 deletions
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  1. 2
      cereal
  2. 2
      selfdrive/controls/lib/latcontrol_torque.py
  3. 2
      selfdrive/test/process_replay/ref_commit

2
cereal

@ -1 +1 @@
Subproject commit 3f8210d1fd3a2090aa1eea9b1c60050859874f1b Subproject commit 5935572cee86f202e2524d5f388f9475f92cd649

2
selfdrive/controls/lib/latcontrol_torque.py
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@ -73,6 +73,8 @@ class LatControlTorque(LatControl):
pid_log.f = self.pid.f pid_log.f = self.pid.f
pid_log.output = -output_torque pid_log.output = -output_torque
pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS) pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS)
pid_log.actualLateralAccel = actual_lateral_accel
pid_log.desiredLateralAccel = desired_lateral_accel
# TODO left is positive in this convention # TODO left is positive in this convention
return -output_torque, 0.0, pid_log return -output_torque, 0.0, pid_log

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
7f1f4bd17965cc703b824ffb1870313bee93e2ec 70d79fbcc2b9ab0af867a7d6f138b58bcaaa3aa8
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