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body: fix integrator freezing in turn loop (#25243)

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old-commit-hash: 2f808985c0
taco
Adeeb Shihadeh 3 years ago committed by GitHub
parent 04af978260
commit bfd972333f
1 changed files with 2 additions and 2 deletions
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  1. 4
      selfdrive/car/body/carcontroller.py

4
selfdrive/car/body/carcontroller.py
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@ -61,8 +61,8 @@ class CarController:
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)
turn_error = speed_diff_measured - speed_diff_desired turn_error = speed_diff_measured - speed_diff_desired
freeze_integrator = ((turn_error < 0 and self.turn_pid.error_integral <= -MAX_POS_INTEGRATOR) or freeze_integrator = ((turn_error < 0 and self.turn_pid.error_integral <= -MAX_TURN_INTEGRATOR) or
(turn_error > 0 and self.turn_pid.error_integral >= MAX_POS_INTEGRATOR)) (turn_error > 0 and self.turn_pid.error_integral >= MAX_TURN_INTEGRATOR))
torque_diff = self.turn_pid.update(turn_error, freeze_integrator=freeze_integrator) torque_diff = self.turn_pid.update(turn_error, freeze_integrator=freeze_integrator)
# Combine 2 PIDs outputs # Combine 2 PIDs outputs

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