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

* log torque lateral accel * bump cereal * update refs Co-authored-by: Shane Smiskol <shane@smiskol.com>
3 years ago · 9a44d4c4e0
parent 986a991a09
commit 9a44d4c4e0
3 changed files with 4 additions and 2 deletions
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 3f8210d1fd3a2090aa1eea9b1c60050859874f1b
+Subproject commit 5935572cee86f202e2524d5f388f9475f92cd649
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@ -73,6 +73,8 @@ class LatControlTorque(LatControl):
      pid_log.f = self.pid.f
      pid_log.output = -output_torque
      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
    return -output_torque, 0.0, pid_log
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-7f1f4bd17965cc703b824ffb1870313bee93e2ec
+70d79fbcc2b9ab0af867a7d6f138b58bcaaa3aa8