LateralPlanner should only compute curvature (#20289)

* get curvature from planner

* no need to check active

* remove that

* remove self

* liveParams not needed

* cast

* fix test bug

* fixes

* fix ui.py

* fix radians

* update refs

* update refs

* bump cereal

* bump cereal

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

selfdrive/car/nissan/interface.py

@@ -28,11 +28,6 @@ class CarInterface(CarInterfaceBase):
     ret.steerRateCost = 0.5
 
     ret.steerActuatorDelay = 0.1
-    ret.lateralTuning.pid.kf = 0.00006
-    ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.0], [0.0]]
-    ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01], [0.005]]
-    ret.steerMaxBP = [0.]  # m/s
-    ret.steerMaxV = [1.]
 
     if candidate in [CAR.ROGUE, CAR.XTRAIL]:
       ret.mass = 1610 + STD_CARGO_KG

selfdrive/car/tests/test_car_interfaces.py

@@ -33,13 +33,14 @@ class TestCarInterfaces(unittest.TestCase):
       self.assertGreater(car_params.mass, 1)
       self.assertGreater(car_params.steerRateCost, 1e-3)
 
-      tuning = car_params.lateralTuning.which()
-      if tuning == 'pid':
-        self.assertTrue(len(car_params.lateralTuning.pid.kpV))
-      elif tuning == 'lqr':
-        self.assertTrue(len(car_params.lateralTuning.lqr.a))
-      elif tuning == 'indi':
-        self.assertTrue(len(car_params.lateralTuning.indi.outerLoopGainV))
+      if car_params.steerControlType != car.CarParams.SteerControlType.angle:
+        tuning = car_params.lateralTuning.which()
+        if tuning == 'pid':
+          self.assertTrue(len(car_params.lateralTuning.pid.kpV))
+        elif tuning == 'lqr':
+          self.assertTrue(len(car_params.lateralTuning.lqr.a))
+        elif tuning == 'indi':
+          self.assertTrue(len(car_params.lateralTuning.indi.outerLoopGainV))
 
       # Run car interface
       CC = car.CarControl.new_message()

selfdrive/controls/controlsd.py

@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import os
+import math
 from cereal import car, log
 from common.numpy_fast import clip
 from common.realtime import sec_since_boot, config_realtime_process, Priority, Ratekeeper, DT_CTRL
@@ -16,6 +17,7 @@ from selfdrive.controls.lib.longcontrol import LongControl, STARTING_TARGET_SPEE
 from selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
 from selfdrive.controls.lib.latcontrol_lqr import LatControlLQR
+from selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from selfdrive.controls.lib.events import Events, ET
 from selfdrive.controls.lib.alertmanager import AlertManager
 from selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -102,7 +104,9 @@ class Controls:
     self.LoC = LongControl(self.CP, self.CI.compute_gb)
     self.VM = VehicleModel(self.CP)
 
-    if self.CP.lateralTuning.which() == 'pid':
+    if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
+      self.LaC = LatControlAngle(self.CP)
+    elif self.CP.lateralTuning.which() == 'pid':
       self.LaC = LatControlPID(self.CP)
     elif self.CP.lateralTuning.which() == 'indi':
       self.LaC = LatControlINDI(self.CP)
@@ -363,6 +367,12 @@ class Controls:
   def state_control(self, CS):
     """Given the state, this function returns an actuators packet"""
 
+    # Update VehicleModel
+    params = self.sm['liveParameters']
+    x = max(params.stiffnessFactor, 0.1)
+    sr = max(params.steerRatio, 0.1)
+    self.VM.update_params(x, sr)
+
     lat_plan = self.sm['lateralPlan']
     long_plan = self.sm['longitudinalPlan']
 
@@ -386,8 +396,9 @@ class Controls:
 
     # Gas/Brake PID loop
     actuators.gas, actuators.brake = self.LoC.update(self.active, CS, v_acc_sol, long_plan.vTargetFuture, a_acc_sol, self.CP)
+
     # Steering PID loop and lateral MPC
-    actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(self.active, CS, self.CP, lat_plan)
+    actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(self.active, CS, self.CP, self.VM, params, lat_plan)
 
     # Check for difference between desired angle and angle for angle based control
     angle_control_saturated = self.CP.steerControlType == car.CarParams.SteerControlType.angle and \
@@ -401,12 +412,14 @@ class Controls:
     # Send a "steering required alert" if saturation count has reached the limit
     if (lac_log.saturated and not CS.steeringPressed) or \
        (self.saturated_count > STEER_ANGLE_SATURATION_TIMEOUT):
-      # Check if we deviated from the path
-      left_deviation = actuators.steer > 0 and lat_plan.dPathPoints[0] < -0.1
-      right_deviation = actuators.steer < 0 and lat_plan.dPathPoints[0] > 0.1
 
-      if left_deviation or right_deviation:
-        self.events.add(EventName.steerSaturated)
+      if len(lat_plan.dPathPoints):
+        # Check if we deviated from the path
+        left_deviation = actuators.steer > 0 and lat_plan.dPathPoints[0] < -0.1
+        right_deviation = actuators.steer < 0 and lat_plan.dPathPoints[0] > 0.1
+
+        if left_deviation or right_deviation:
+          self.events.add(EventName.steerSaturated)
 
     return actuators, v_acc_sol, a_acc_sol, lac_log
 
@@ -468,7 +481,14 @@ class Controls:
     force_decel = (self.sm['driverMonitoringState'].awarenessStatus < 0.) or \
                   (self.state == State.softDisabling)
 
-    steer_angle_rad = (CS.steeringAngleDeg - self.sm['lateralPlan'].angleOffsetDeg) * CV.DEG_TO_RAD
+    # Curvature & Steering angle
+    params = self.sm['liveParameters']
+    lat_plan = self.sm['lateralPlan']
+
+    steer_angle_without_offset = math.radians(CS.steeringAngleDeg - params.angleOffsetAverageDeg)
+    curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo)
+    angle_steers_des = math.degrees(self.VM.get_steer_from_curvature(-lat_plan.curvature, CS.vEgo))
+    angle_steers_des += params.angleOffsetDeg
 
     # controlsState
     dat = messaging.new_message('controlsState')
@@ -486,7 +506,8 @@ class Controls:
     controlsState.lateralPlanMonoTime = self.sm.logMonoTime['lateralPlan']
     controlsState.enabled = self.enabled
     controlsState.active = self.active
-    controlsState.curvature = self.VM.calc_curvature(steer_angle_rad, CS.vEgo)
+    controlsState.curvature = curvature
+    controlsState.steeringAngleDesiredDeg = angle_steers_des
     controlsState.state = self.state
     controlsState.engageable = not self.events.any(ET.NO_ENTRY)
     controlsState.longControlState = self.LoC.long_control_state
@@ -495,7 +516,6 @@ class Controls:
     controlsState.upAccelCmd = float(self.LoC.pid.p)
     controlsState.uiAccelCmd = float(self.LoC.pid.i)
     controlsState.ufAccelCmd = float(self.LoC.pid.f)
-    controlsState.steeringAngleDesiredDeg = float(self.LaC.angle_steers_des)
     controlsState.vTargetLead = float(v_acc)
     controlsState.aTarget = float(a_acc)
     controlsState.cumLagMs = -self.rk.remaining * 1000.
@@ -503,7 +523,9 @@ class Controls:
     controlsState.forceDecel = bool(force_decel)
     controlsState.canErrorCounter = self.can_error_counter
 
-    if self.CP.lateralTuning.which() == 'pid':
+    if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
+      controlsState.lateralControlState.angleState = lac_log
+    elif self.CP.lateralTuning.which() == 'pid':
       controlsState.lateralControlState.pidState = lac_log
     elif self.CP.lateralTuning.which() == 'lqr':
       controlsState.lateralControlState.lqrState = lac_log

selfdrive/controls/lib/latcontrol_angle.py

@@ -0,0 +1,25 @@
+import math
+from cereal import log
+
+
+class LatControlAngle():
+  def __init__(self, CP):
+    pass
+
+  def reset(self):
+    pass
+
+  def update(self, active, CS, CP, VM, params, lat_plan):
+    angle_log = log.ControlsState.LateralAngleState.new_message()
+
+    if CS.vEgo < 0.3 or not active:
+      angle_log.active = False
+      angle_steers_des = float(CS.steeringAngleDeg)
+    else:
+      angle_log.active = True
+      angle_steers_des = math.degrees(VM.get_steer_from_curvature(-lat_plan.curvature, CS.vEgo))
+      angle_steers_des += params.angleOffsetDeg
+
+    angle_log.saturated = False
+    angle_log.steeringAngleDeg = angle_steers_des
+    return 0, float(angle_steers_des), angle_log

selfdrive/controls/lib/latcontrol_indi.py

@@ -80,7 +80,7 @@ class LatControlINDI():
 
     return self.sat_count > self.sat_limit
 
-  def update(self, active, CS, CP, lat_plan):
+  def update(self, active, CS, CP, VM, params, lat_plan):
     self.speed = CS.vEgo
     # Update Kalman filter
     y = np.array([[math.radians(CS.steeringAngleDeg)], [math.radians(CS.steeringRateDeg)]])
@@ -96,11 +96,10 @@ class LatControlINDI():
       self.output_steer = 0.0
       self.delayed_output = 0.0
     else:
-      self.angle_steers_des = lat_plan.steeringAngleDeg
-      self.rate_steers_des = lat_plan.steeringRateDeg
+      steers_des = VM.get_steer_from_curvature(-lat_plan.curvature, CS.vEgo)
+      steers_des += math.radians(params.angleOffsetDeg)
 
-      steers_des = math.radians(self.angle_steers_des)
-      rate_des = math.radians(self.rate_steers_des)
+      rate_des = VM.get_steer_from_curvature(-lat_plan.curvatureRate, CS.vEgo)
 
       # Expected actuator value
       alpha = 1. - DT_CTRL / (self.RC + DT_CTRL)
@@ -143,4 +142,4 @@ class LatControlINDI():
       check_saturation = (CS.vEgo > 10.) and not CS.steeringRateLimited and not CS.steeringPressed
       indi_log.saturated = self._check_saturation(self.output_steer, check_saturation, steers_max)
 
-    return float(self.output_steer), float(self.angle_steers_des), indi_log
+    return float(self.output_steer), 0, indi_log

selfdrive/controls/lib/latcontrol_lqr.py

@@ -1,4 +1,6 @@
+import math
 import numpy as np
+
 from selfdrive.controls.lib.drive_helpers import get_steer_max
 from common.numpy_fast import clip
 from common.realtime import DT_CTRL
@@ -28,7 +30,6 @@ class LatControlLQR():
 
   def reset(self):
     self.i_lqr = 0.0
-    self.output_steer = 0.0
     self.sat_count = 0.0
 
   def _check_saturation(self, control, check_saturation, limit):
@@ -43,39 +44,42 @@ class LatControlLQR():
 
     return self.sat_count > self.sat_limit
 
-  def update(self, active, CS, CP, lat_plan):
+  def update(self, active, CS, CP, VM, params, lat_plan):
     lqr_log = log.ControlsState.LateralLQRState.new_message()
 
     steers_max = get_steer_max(CP, CS.vEgo)
     torque_scale = (0.45 + CS.vEgo / 60.0)**2  # Scale actuator model with speed
 
-    steering_angle = CS.steeringAngleDeg
-
     # Subtract offset. Zero angle should correspond to zero torque
-    self.angle_steers_des = lat_plan.steeringAngleDeg - lat_plan.angleOffsetDeg
-    steering_angle -= lat_plan.angleOffsetDeg
+    steering_angle_no_offset = CS.steeringAngleDeg - params.angleOffsetAverageDeg
+
+    desired_angle = math.degrees(VM.get_steer_from_curvature(-lat_plan.curvature, CS.vEgo))
+
+    instant_offset = params.angleOffsetDeg - params.angleOffsetAverageDeg
+    desired_angle += instant_offset  # Only add offset that originates from vehicle model errors
 
     # Update Kalman filter
     angle_steers_k = float(self.C.dot(self.x_hat))
-    e = steering_angle - angle_steers_k
+    e = steering_angle_no_offset - angle_steers_k
     self.x_hat = self.A.dot(self.x_hat) + self.B.dot(CS.steeringTorqueEps / torque_scale) + self.L.dot(e)
 
     if CS.vEgo < 0.3 or not active:
       lqr_log.active = False
       lqr_output = 0.
+      output_steer = 0.
       self.reset()
     else:
       lqr_log.active = True
 
       # LQR
-      u_lqr = float(self.angle_steers_des / self.dc_gain - self.K.dot(self.x_hat))
+      u_lqr = float(desired_angle / self.dc_gain - self.K.dot(self.x_hat))
       lqr_output = torque_scale * u_lqr / self.scale
 
       # Integrator
       if CS.steeringPressed:
         self.i_lqr -= self.i_unwind_rate * float(np.sign(self.i_lqr))
       else:
-        error = self.angle_steers_des - angle_steers_k
+        error = desired_angle - angle_steers_k
         i = self.i_lqr + self.ki * self.i_rate * error
         control = lqr_output + i
 
@@ -83,15 +87,15 @@ class LatControlLQR():
            (error <= 0 and (control >= -steers_max or i > 0.0)):
           self.i_lqr = i
 
-      self.output_steer = lqr_output + self.i_lqr
-      self.output_steer = clip(self.output_steer, -steers_max, steers_max)
+      output_steer = lqr_output + self.i_lqr
+      output_steer = clip(output_steer, -steers_max, steers_max)
 
     check_saturation = (CS.vEgo > 10) and not CS.steeringRateLimited and not CS.steeringPressed
-    saturated = self._check_saturation(self.output_steer, check_saturation, steers_max)
+    saturated = self._check_saturation(output_steer, check_saturation, steers_max)
 
-    lqr_log.steeringAngleDeg = angle_steers_k + lat_plan.angleOffsetDeg
+    lqr_log.steeringAngleDeg = angle_steers_k + params.angleOffsetAverageDeg
     lqr_log.i = self.i_lqr
-    lqr_log.output = self.output_steer
+    lqr_log.output = output_steer
     lqr_log.lqrOutput = lqr_output
     lqr_log.saturated = saturated
-    return self.output_steer, float(self.angle_steers_des), lqr_log
+    return output_steer, 0, lqr_log

selfdrive/controls/lib/latcontrol_pid.py

@@ -1,6 +1,7 @@
+import math
+
 from selfdrive.controls.lib.pid import PIController
 from selfdrive.controls.lib.drive_helpers import get_steer_max
-from cereal import car
 from cereal import log
 
 
@@ -10,35 +11,35 @@ class LatControlPID():
                             (CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
                             k_f=CP.lateralTuning.pid.kf, pos_limit=1.0, neg_limit=-1.0,
                             sat_limit=CP.steerLimitTimer)
-    self.angle_steers_des = 0.
 
   def reset(self):
     self.pid.reset()
 
-  def update(self, active, CS, CP, lat_plan):
+  def update(self, active, CS, CP, VM, params, lat_plan):
     pid_log = log.ControlsState.LateralPIDState.new_message()
     pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     pid_log.steeringRateDeg = float(CS.steeringRateDeg)
 
+    angle_steers_des_no_offset = math.degrees(VM.get_steer_from_curvature(-lat_plan.curvature, CS.vEgo))
+    angle_steers_des = angle_steers_des_no_offset + params.angleOffsetDeg
+
     if CS.vEgo < 0.3 or not active:
       output_steer = 0.0
       pid_log.active = False
       self.pid.reset()
     else:
-      self.angle_steers_des = lat_plan.steeringAngleDeg # get from MPC/LateralPlanner
-
       steers_max = get_steer_max(CP, CS.vEgo)
       self.pid.pos_limit = steers_max
       self.pid.neg_limit = -steers_max
-      steer_feedforward = self.angle_steers_des   # feedforward desired angle
-      if CP.steerControlType == car.CarParams.SteerControlType.torque:
-        # TODO: feedforward something based on lat_plan.rateSteers
-        steer_feedforward -= lat_plan.angleOffsetDeg # subtract the offset, since it does not contribute to resistive torque
-        steer_feedforward *= CS.vEgo**2  # proportional to realigning tire momentum (~ lateral accel)
+
+      # TODO: feedforward something based on lat_plan.rateSteers
+      steer_feedforward = angle_steers_des_no_offset  # offset does not contribute to resistive torque
+      steer_feedforward *= CS.vEgo**2  # proportional to realigning tire momentum (~ lateral accel)
+
       deadzone = 0.0
 
       check_saturation = (CS.vEgo > 10) and not CS.steeringRateLimited and not CS.steeringPressed
-      output_steer = self.pid.update(self.angle_steers_des, CS.steeringAngleDeg, check_saturation=check_saturation, override=CS.steeringPressed,
+      output_steer = self.pid.update(angle_steers_des, CS.steeringAngleDeg, check_saturation=check_saturation, override=CS.steeringPressed,
                                      feedforward=steer_feedforward, speed=CS.vEgo, deadzone=deadzone)
       pid_log.active = True
       pid_log.p = self.pid.p
@@ -47,4 +48,4 @@ class LatControlPID():
       pid_log.output = output_steer
       pid_log.saturated = bool(self.pid.saturated)
 
-    return output_steer, float(self.angle_steers_des), pid_log
+    return output_steer, 0, pid_log

selfdrive/controls/lib/lateral_mpc/lateral_mpc.c

@@ -24,8 +24,8 @@ typedef struct {
   double x[N+1];
   double y[N+1];
   double psi[N+1];
-  double tire_angle[N+1];
-  double tire_angle_rate[N];
+  double curvature[N+1];
+  double curvature_rate[N];
   double cost;
 } log_t;
 
@@ -95,9 +95,9 @@ int run_mpc(state_t * x0, log_t * solution, double v_ego,
     solution->x[i] = acadoVariables.x[i*NX];
     solution->y[i] = acadoVariables.x[i*NX+1];
     solution->psi[i] = acadoVariables.x[i*NX+2];
-    solution->tire_angle[i] = acadoVariables.x[i*NX+3];
+    solution->curvature[i] = acadoVariables.x[i*NX+3];
     if (i < N){
-      solution->tire_angle_rate[i] = acadoVariables.u[i];
+      solution->curvature_rate[i] = acadoVariables.u[i];
     }
   }
   solution->cost = acado_getObjective();

selfdrive/controls/lib/lateral_planner.py

@@ -75,23 +75,13 @@ class LateralPlanner():
     self.cur_state[0].psi = 0.0
     self.cur_state[0].curvature = 0.0
 
-    self.angle_steers_des = 0.0
-    self.angle_steers_des_mpc = 0.0
-    self.angle_steers_des_time = 0.0
+    self.desired_curvature = 0.0
+    self.desired_curvature_rate = 0.0
 
-  def update(self, sm, CP, VM):
+  def update(self, sm, CP):
     v_ego = sm['carState'].vEgo
     active = sm['controlsState'].active
-    steering_wheel_angle_offset_deg = sm['liveParameters'].angleOffsetDeg
-    steering_wheel_angle_deg = sm['carState'].steeringAngleDeg
-
-    # Update vehicle model
-    x = max(sm['liveParameters'].stiffnessFactor, 0.1)
-    sr = max(sm['liveParameters'].steerRatio, 0.1)
-    VM.update_params(x, sr)
-    curvature_factor = VM.curvature_factor(v_ego)
-    measured_curvature = -curvature_factor * math.radians(steering_wheel_angle_deg - steering_wheel_angle_offset_deg) / VM.sR
-
+    measured_curvature = sm['controlsState'].curvature
 
     md = sm['modelV2']
     self.LP.parse_model(sm['modelV2'])
@@ -166,8 +156,8 @@ class LateralPlanner():
       self.LP.lll_prob *= self.lane_change_ll_prob
       self.LP.rll_prob *= self.lane_change_ll_prob
     d_path_xyz = self.LP.get_d_path(v_ego, self.t_idxs, self.path_xyz)
-    y_pts = np.interp(v_ego * self.t_idxs[:MPC_N+1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:,1])
-    heading_pts = np.interp(v_ego * self.t_idxs[:MPC_N+1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw)
+    y_pts = np.interp(v_ego * self.t_idxs[:MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:,1])
+    heading_pts = np.interp(v_ego * self.t_idxs[:MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw)
     self.y_pts = y_pts
 
     assert len(y_pts) == MPC_N + 1
@@ -181,31 +171,22 @@ class LateralPlanner():
     self.cur_state.x = 0.0
     self.cur_state.y = 0.0
     self.cur_state.psi = 0.0
-    self.cur_state.curvature = interp(DT_MDL, self.t_idxs[:MPC_N+1], self.mpc_solution.curvature)
+    self.cur_state.curvature = interp(DT_MDL, self.t_idxs[:MPC_N + 1], self.mpc_solution.curvature)
 
     # TODO this needs more thought, use .2s extra for now to estimate other delays
     delay = CP.steerActuatorDelay + .2
     current_curvature = self.mpc_solution.curvature[0]
-    psi = interp(delay, self.t_idxs[:MPC_N+1], self.mpc_solution.psi)
+    psi = interp(delay, self.t_idxs[:MPC_N + 1], self.mpc_solution.psi)
     next_curvature_rate = self.mpc_solution.curvature_rate[0]
 
     # MPC can plan to turn the wheel and turn back before t_delay. This means
     # in high delay cases some corrections never even get commanded. So just use
     # psi to calculate a simple linearization of desired curvature
-    curvature_diff_from_psi = psi/(max(v_ego, 1e-1) * delay) - current_curvature
-    next_curvature = current_curvature + 2*curvature_diff_from_psi
+    curvature_diff_from_psi = psi / (max(v_ego, 1e-1) * delay) - current_curvature
+    next_curvature = current_curvature + 2 * curvature_diff_from_psi
 
-    # reset to current steer angle if not active or overriding
-    if active:
-      curvature_desired = next_curvature
-      desired_curvature_rate = next_curvature_rate
-    else:
-      curvature_desired = measured_curvature
-      desired_curvature_rate = 0.0
-
-    # negative sign, controls uses different convention
-    self.desired_steering_wheel_angle_deg = -float(math.degrees(curvature_desired * VM.sR)/curvature_factor) + steering_wheel_angle_offset_deg
-    self.desired_steering_wheel_angle_rate_deg = -float(math.degrees(desired_curvature_rate * VM.sR)/curvature_factor)
+    self.desired_curvature = next_curvature
+    self.desired_curvature_rate = next_curvature_rate
 
     #  Check for infeasable MPC solution
     mpc_nans = any(math.isnan(x) for x in self.mpc_solution.curvature)
@@ -226,16 +207,16 @@ class LateralPlanner():
   def publish(self, sm, pm):
     plan_solution_valid = self.solution_invalid_cnt < 2
     plan_send = messaging.new_message('lateralPlan')
-    plan_send.valid = sm.all_alive_and_valid(service_list=['carState', 'controlsState', 'liveParameters', 'modelV2'])
+    plan_send.valid = sm.all_alive_and_valid(service_list=['carState', 'controlsState', 'modelV2'])
     plan_send.lateralPlan.laneWidth = float(self.LP.lane_width)
     plan_send.lateralPlan.dPathPoints = [float(x) for x in self.y_pts]
     plan_send.lateralPlan.lProb = float(self.LP.lll_prob)
     plan_send.lateralPlan.rProb = float(self.LP.rll_prob)
     plan_send.lateralPlan.dProb = float(self.LP.d_prob)
 
-    plan_send.lateralPlan.steeringAngleDeg = float(self.desired_steering_wheel_angle_deg)
-    plan_send.lateralPlan.steeringRateDeg = float(self.desired_steering_wheel_angle_rate_deg)
-    plan_send.lateralPlan.angleOffsetDeg = float(sm['liveParameters'].angleOffsetAverageDeg)
+    plan_send.lateralPlan.curvature = float(self.desired_curvature)
+    plan_send.lateralPlan.curvatureRate = float(self.desired_curvature_rate)
+
     plan_send.lateralPlan.mpcSolutionValid = bool(plan_solution_valid)
 
     plan_send.lateralPlan.desire = self.desire
@@ -246,9 +227,9 @@ class LateralPlanner():
 
     if LOG_MPC:
       dat = messaging.new_message('liveMpc')
-      dat.liveMpc.x = list(self.mpc_solution[0].x)
-      dat.liveMpc.y = list(self.mpc_solution[0].y)
-      dat.liveMpc.psi = list(self.mpc_solution[0].psi)
-      dat.liveMpc.tire_angle = list(self.mpc_solution[0].tire_angle)
-      dat.liveMpc.cost = self.mpc_solution[0].cost
+      dat.liveMpc.x = list(self.mpc_solution.x)
+      dat.liveMpc.y = list(self.mpc_solution.y)
+      dat.liveMpc.psi = list(self.mpc_solution.psi)
+      dat.liveMpc.curvature = list(self.mpc_solution.curvature)
+      dat.liveMpc.cost = self.mpc_solution.cost
       pm.send('liveMpc', dat)

selfdrive/controls/lib/longitudinal_planner.py

@@ -107,7 +107,7 @@ class Planner():
 
     self.v_acc_future = min([self.mpc1.v_mpc_future, self.mpc2.v_mpc_future, v_cruise_setpoint])
 
-  def update(self, sm, CP, VM, PP):
+  def update(self, sm, CP):
     """Gets called when new radarState is available"""
     cur_time = sec_since_boot()
     v_ego = sm['carState'].vEgo

selfdrive/controls/plannerd.py

@@ -4,7 +4,6 @@ from common.params import Params
 from common.realtime import Priority, config_realtime_process
 from selfdrive.swaglog import cloudlog
 from selfdrive.controls.lib.longitudinal_planner import Planner
-from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.controls.lib.lateral_planner import LateralPlanner
 import cereal.messaging as messaging
 
@@ -17,32 +16,25 @@ def plannerd_thread(sm=None, pm=None):
   CP = car.CarParams.from_bytes(Params().get("CarParams", block=True))
   cloudlog.info("plannerd got CarParams: %s", CP.carName)
 
-  PL = Planner(CP)
-  PP = LateralPlanner(CP)
-
-  VM = VehicleModel(CP)
+  longitudinal_planner = Planner(CP)
+  lateral_planner = LateralPlanner(CP)
 
   if sm is None:
-    sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'modelV2', 'liveParameters'],
+    sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'modelV2'],
                              poll=['radarState', 'modelV2'])
 
   if pm is None:
     pm = messaging.PubMaster(['longitudinalPlan', 'liveLongitudinalMpc', 'lateralPlan', 'liveMpc'])
 
-  sm['liveParameters'].valid = True
-  sm['liveParameters'].sensorValid = True
-  sm['liveParameters'].steerRatio = CP.steerRatio
-  sm['liveParameters'].stiffnessFactor = 1.0
-
   while True:
     sm.update()
 
     if sm.updated['modelV2']:
-      PP.update(sm, CP, VM)
-      PP.publish(sm, pm)
+      lateral_planner.update(sm, CP)
+      lateral_planner.publish(sm, pm)
     if sm.updated['radarState']:
-      PL.update(sm, CP, VM, PP)
-      PL.publish(sm, pm)
+      longitudinal_planner.update(sm, CP)
+      longitudinal_planner.publish(sm, pm)
 
 
 def main(sm=None, pm=None):

selfdrive/test/process_replay/process_replay.py

@@ -249,7 +249,7 @@ CONFIGS = [
     proc_name="plannerd",
     pub_sub={
       "modelV2": ["lateralPlan"], "radarState": ["longitudinalPlan"],
-      "carState": [], "controlsState": [], "liveParameters": [],
+      "carState": [], "controlsState": [],
     },
     ignore=["logMonoTime", "valid", "longitudinalPlan.processingDelay"],
     init_callback=get_car_params,

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-2fac648a63f45ddee16838dabae4490dee13e2a9
+31aa88edbb3badbbf2d21c7ffd0ba38f9bb1ae2d

selfdrive/test/test_models.py

@@ -85,13 +85,14 @@ class TestCarModel(unittest.TestCase):
     self.assertGreater(self.CP.mass, 1)
     self.assertGreater(self.CP.steerRateCost, 1e-3)
 
-    tuning = self.CP.lateralTuning.which()
-    if tuning == 'pid':
-      self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
-    elif tuning == 'lqr':
-      self.assertTrue(len(self.CP.lateralTuning.lqr.a))
-    elif tuning == 'indi':
-      self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV))
+    if self.CP.steerControlType != car.CarParams.SteerControlType.angle:
+      tuning = self.CP.lateralTuning.which()
+      if tuning == 'pid':
+        self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
+      elif tuning == 'lqr':
+        self.assertTrue(len(self.CP.lateralTuning.lqr.a))
+      elif tuning == 'indi':
+        self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV))
 
     self.assertTrue(self.CP.enableCamera)
 

tools/replay/ui.py

@@ -143,7 +143,7 @@ def ui_thread(addr, frame_address):
 
     plot_arr[:-1] = plot_arr[1:]
     plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg
-    plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg
+    plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['controlsState'].steeringAngleDesiredDeg
     plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
     plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gas
     plot_arr[-1, name_to_arr_idx['computer_gas']] = sm['carControl'].actuators.gas