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body: only control while engaged (#24114)

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* body: only control while engaged

* bump panda

* remove that

* bump panda

* update refs

* update refs
old-commit-hash: 00ebd10b87
taco
Adeeb Shihadeh 3 years ago committed by GitHub
parent c64fd227ef
commit 9e0a09868a
6 changed files with 75 additions and 67 deletions
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  1. 2
      panda
  2. 121
      selfdrive/car/body/carcontroller.py
  3. 9
      selfdrive/car/body/interface.py
  4. 4
      selfdrive/controls/controlsd.py
  5. 2
      selfdrive/test/process_replay/ref_commit
  6. 4
      selfdrive/test/process_replay/test_processes.py

2
panda

@ -1 +1 @@
Subproject commit ddf1eb68ba6324022b95103994b11bedb615f608 Subproject commit ba5cbd5ee1ece245471933a65604f3e7f9520121

121
selfdrive/car/body/carcontroller.py
Unescape View File

@ -29,7 +29,6 @@ class CarController():
self.torque_r_filtered = 0. self.torque_r_filtered = 0.
self.torque_l_filtered = 0. self.torque_l_filtered = 0.
self.wait_counter = int(5. / DT_CTRL)
@staticmethod @staticmethod
def deadband_filter(torque, deadband): def deadband_filter(torque, deadband):
@ -40,67 +39,65 @@ class CarController():
return torque return torque
def update(self, CC, CS): def update(self, CC, CS):
if self.wait_counter > 0:
self.wait_counter -= 1 torque_l = 0
return CC.actuators.copy(), [] torque_r = 0
if len(CC.orientationNED) == 0 or len(CC.angularVelocity) == 0:
return CC.actuators.copy(), [] llk_valid = len(CC.orientationNED) > 0 and len(CC.angularVelocity) > 0
if CC.enabled and llk_valid:
# ///////////////////////////////////////
# Steer and accel mixin. Speed should be used as a target? (speed should be in m/s! now it is in RPM) # Steer and accel mixin. Speed should be used as a target? (speed should be in m/s! now it is in RPM)
# Mix steer into torque_diff # Mix steer into torque_diff
# self.steerRatio = 0.5 # self.steerRatio = 0.5
# torque_r = int(np.clip((CC.actuators.accel*1000) - (CC.actuators.steer*1000) * self.steerRatio, -1000, 1000)) # torque_r = int(np.clip((CC.actuators.accel*1000) - (CC.actuators.steer*1000) * self.steerRatio, -1000, 1000))
# torque_l = int(np.clip((CC.actuators.accel*1000) + (CC.actuators.steer*1000) * self.steerRatio, -1000, 1000)) # torque_l = int(np.clip((CC.actuators.accel*1000) + (CC.actuators.steer*1000) * self.steerRatio, -1000, 1000))
# //// # ////
# Setpoint speed PID # Setpoint speed PID
kp_speed = 0.001 / SPEED_FROM_RPM kp_speed = 0.001 / SPEED_FROM_RPM
ki_speed = 0.001 / SPEED_FROM_RPM ki_speed = 0.001 / SPEED_FROM_RPM
alpha_speed = 1.0 alpha_speed = 1.0
self.speed_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl + CS.out.wheelSpeeds.fr) / 2. self.speed_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl + CS.out.wheelSpeeds.fr) / 2.
self.speed_desired = (1. - alpha_speed) * self.speed_desired self.speed_desired = (1. - alpha_speed) * self.speed_desired
speed_error = self.speed_desired - self.speed_measured speed_error = self.speed_desired - self.speed_measured
self.i_speed += speed_error * DT_CTRL self.i_speed += speed_error * DT_CTRL
self.i_speed = np.clip(self.i_speed, -MAX_POS_INTEGRATOR, MAX_POS_INTEGRATOR) self.i_speed = np.clip(self.i_speed, -MAX_POS_INTEGRATOR, MAX_POS_INTEGRATOR)
set_point = kp_speed * speed_error + ki_speed * self.i_speed set_point = kp_speed * speed_error + ki_speed * self.i_speed
# Balancing PID # Balancing PID
kp_balance = 1300 kp_balance = 1300
ki_balance = 0 ki_balance = 0
kd_balance = 280 kd_balance = 280
# Clip angle error, this is enough to get up from stands # Clip angle error, this is enough to get up from stands
p_balance = np.clip((-CC.orientationNED[1]) - set_point, np.radians(-MAX_ANGLE_ERROR), np.radians(MAX_ANGLE_ERROR)) p_balance = np.clip((-CC.orientationNED[1]) - set_point, np.radians(-MAX_ANGLE_ERROR), np.radians(MAX_ANGLE_ERROR))
self.i_balance += CS.out.wheelSpeeds.fl + CS.out.wheelSpeeds.fr self.i_balance += CS.out.wheelSpeeds.fl + CS.out.wheelSpeeds.fr
self.d_balance = np.clip(-CC.angularVelocity[1], -1., 1.) self.d_balance = np.clip(-CC.angularVelocity[1], -1., 1.)
torque = int(np.clip((p_balance*kp_balance + self.i_balance*ki_balance + self.d_balance*kd_balance), -1000, 1000)) torque = int(np.clip((p_balance*kp_balance + self.i_balance*ki_balance + self.d_balance*kd_balance), -1000, 1000))
# yaw recovery PID # yaw recovery PID
kp_turn = 0.1 / SPEED_FROM_RPM kp_turn = 0.1 / SPEED_FROM_RPM
ki_turn = 0.1 / SPEED_FROM_RPM ki_turn = 0.1 / SPEED_FROM_RPM
speed_diff_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl - CS.out.wheelSpeeds.fr) speed_diff_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl - CS.out.wheelSpeeds.fr)
self.i_speed_diff += speed_diff_measured * DT_CTRL self.i_speed_diff += speed_diff_measured * DT_CTRL
self.i_speed_diff = np.clip(self.i_speed_diff, -MAX_TURN_INTEGRATOR, MAX_TURN_INTEGRATOR) self.i_speed_diff = np.clip(self.i_speed_diff, -MAX_TURN_INTEGRATOR, MAX_TURN_INTEGRATOR)
torque_diff = int(np.clip(kp_turn * speed_diff_measured + ki_turn * self.i_speed_diff, -100, 100)) torque_diff = int(np.clip(kp_turn * speed_diff_measured + ki_turn * self.i_speed_diff, -100, 100))
# Combine 2 PIDs outputs # Combine 2 PIDs outputs
torque_r = torque + torque_diff torque_r = torque + torque_diff
torque_l = torque - torque_diff torque_l = torque - torque_diff
# Torque rate limits # Torque rate limits
self.torque_r_filtered = np.clip(self.deadband_filter(torque_r, 10), self.torque_r_filtered = np.clip(self.deadband_filter(torque_r, 10),
self.torque_r_filtered - MAX_TORQUE_RATE, self.torque_r_filtered - MAX_TORQUE_RATE,
self.torque_r_filtered + MAX_TORQUE_RATE) self.torque_r_filtered + MAX_TORQUE_RATE)
self.torque_l_filtered = np.clip(self.deadband_filter(torque_l, 10), self.torque_l_filtered = np.clip(self.deadband_filter(torque_l, 10),
self.torque_l_filtered - MAX_TORQUE_RATE, self.torque_l_filtered - MAX_TORQUE_RATE,
self.torque_l_filtered + MAX_TORQUE_RATE) self.torque_l_filtered + MAX_TORQUE_RATE)
torque_r = int(np.clip(self.torque_r_filtered, -MAX_TORQUE, MAX_TORQUE)) torque_r = int(np.clip(self.torque_r_filtered, -MAX_TORQUE, MAX_TORQUE))
torque_l = int(np.clip(self.torque_l_filtered, -MAX_TORQUE, MAX_TORQUE)) torque_l = int(np.clip(self.torque_l_filtered, -MAX_TORQUE, MAX_TORQUE))
# ///////////////////////////////////////
can_sends = [] can_sends = []
can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r, self.frame // 2)) can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r, self.frame // 2))

9
selfdrive/car/body/interface.py
Unescape View File

@ -1,5 +1,6 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
from cereal import car from cereal import car
from common.realtime import DT_CTRL
from selfdrive.car import scale_rot_inertia, scale_tire_stiffness, get_safety_config from selfdrive.car import scale_rot_inertia, scale_tire_stiffness, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.body.values import SPEED_FROM_RPM from selfdrive.car.body.values import SPEED_FROM_RPM
@ -41,6 +42,14 @@ class CarInterface(CarInterfaceBase):
ret.canValid = self.cp.can_valid ret.canValid = self.cp.can_valid
# wait for everything to init first
if self.frame > int(5. / DT_CTRL):
# body always wants to enable
ret.init('events', 1)
ret.events[0].name = car.CarEvent.EventName.pcmEnable
ret.events[0].enable = True
self.frame += 1
self.CS.out = ret.as_reader() self.CS.out = ret.as_reader()
return self.CS.out return self.CS.out

4
selfdrive/controls/controlsd.py
Unescape View File

@ -206,7 +206,9 @@ class Controls:
self.events.add(EventName.pedalPressed) self.events.add(EventName.pedalPressed)
self.events.add_from_msg(CS.events) self.events.add_from_msg(CS.events)
self.events.add_from_msg(self.sm['driverMonitoringState'].events)
if not self.CP.notCar:
self.events.add_from_msg(self.sm['driverMonitoringState'].events)
# Create events for battery, temperature, disk space, and memory # Create events for battery, temperature, disk space, and memory
if EON and (self.sm['peripheralState'].pandaType != PandaType.uno) and \ if EON and (self.sm['peripheralState'].pandaType != PandaType.uno) and \

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
594f0e291d2a9720c854f6d0f074b7734ed3c741 ad17c3c1d11691bc35efe3de78a7cef3daf5dbdf

4
selfdrive/test/process_replay/test_processes.py
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@ -12,7 +12,7 @@ from tools.lib.logreader import LogReader
original_segments = [ original_segments = [
("BODY", "d6ac8ebdb47bc549|2022-03-31--13-10-06--4"), # COMMA.BODY ("BODY", "bd6a637565e91581|2022-04-04--19-14-27--0"), # COMMA.BODY
("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.SONATA ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.SONATA
("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS (INDI) ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS (INDI)
("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.RAV4 (LQR) ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.RAV4 (LQR)
@ -31,7 +31,7 @@ original_segments = [
] ]
segments = [ segments = [
("BODY", "d6ac8ebdb47bc549|2022-03-31--13-10-06--4"), ("BODY", "bd6a637565e91581|2022-04-04--19-14-27--0"),
("HYUNDAI", "fakedata|2022-01-20--17-49-04--0"), ("HYUNDAI", "fakedata|2022-01-20--17-49-04--0"),
("TOYOTA", "fakedata|2022-01-20--17-50-51--0"), ("TOYOTA", "fakedata|2022-01-20--17-50-51--0"),
("TOYOTA2", "fakedata|2022-01-20--17-52-36--0"), ("TOYOTA2", "fakedata|2022-01-20--17-52-36--0"),

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