From d1af459c29e36264aae406f72b8fcbc9ef22b9e0 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Wed, 20 Jul 2022 17:59:45 -0400 Subject: [PATCH] test hax to torque control --- selfdrive/controls/lib/latcontrol_torque.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 46caa41a90..2a40004857 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -5,7 +5,7 @@ from common.numpy_fast import interp from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED from selfdrive.controls.lib.pid import PIDController from selfdrive.controls.lib.drive_helpers import apply_deadzone -from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY +#from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY # At higher speeds (25+mph) we can assume: # Lateral acceleration achieved by a specific car correlates to @@ -62,7 +62,9 @@ class LatControlTorque(LatControl): error = setpoint - measurement pid_log.error = error - ff = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY + # ff = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY + # test hax - don't double down on VW roll comp + ff = desired_lateral_accel # convert friction into lateral accel units for feedforward friction_compensation = interp(apply_deadzone(error, lateral_accel_deadzone), [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-self.friction, self.friction]) ff += friction_compensation / self.kf