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Improved PlotJuggler layout for lateral accel torque controller (#32949)

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* improved PlotJuggler layout for lat accel controller

* help estimate steerActuatorDelay

* update Actuator Performance, add Vehicle Dynamics

* disable Y limits on actuator performance because sunny

* apply delay estimation feedback from harald

* gc extra custom series that PJ copied in

* label wordsmithing
old-commit-hash: e36ff90996
fix-exp-path
Jason Young 10 months ago committed by GitHub
parent a18df70a3f
commit d7f77d0dc7
1 changed files with 192 additions and 39 deletions
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  1. 231
      tools/plotjuggler/layouts/torque-controller.xml

231
tools/plotjuggler/layouts/torque-controller.xml
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@ -1,45 +1,193 @@
<?xml version='1.0' encoding='UTF-8'?>
<root>
<tabbed_widget name="Main Window" parent="main_window">
<Tab tab_name="tab1" containers="1">
<tabbed_widget parent="main_window" name="Main Window">
<Tab containers="1" tab_name="Lateral Plan Conformance">
<Container>
<DockSplitter sizes="0.250298;0.250298;0.249106;0.250298" orientation="-" count="4">
<DockArea name="...">
<plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
<range bottom="-2.900899" top="3.526047" left="825.563261" right="1415.827546"/>
<DockSplitter count="4" sizes="0.25;0.25;0.25;0.25" orientation="-">
<DockArea name="desired vs actual lateral acceleration (closer means better conformance to plan)">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="3.586831" right="269.643117" left="0.000140" bottom="-2.354077"/>
<limitY/>
<curve name="/controlsState/lateralControlState/torqueState/actualLateralAccel" color="#1f77b4"/>
<curve name="/controlsState/lateralControlState/torqueState/desiredLateralAccel" color="#d62728"/>
<curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
<curve color="#d62728" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel"/>
</plot>
</DockArea>
<DockArea name="...">
<plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
<range bottom="-4.577789" top="3.642392" left="825.563261" right="1415.827546"/>
<DockArea name="desired vs actual lateral acceleration, road-roll factored out (closer means better conformance to plan)">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="3.445087" right="269.643117" left="0.000140" bottom="-2.654874"/>
<limitY/>
<curve name="Actual lateral accel (roll compensated)" color="#1ac938"/>
<curve name="Desired lateral accel (roll compensated)" color="#ff7f0e"/>
<curve color="#1ac938" name="Actual lateral accel (roll compensated)"/>
<curve color="#ff7f0e" name="Desired lateral accel (roll compensated)"/>
</plot>
</DockArea>
<DockArea name="...">
<plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
<range bottom="-1.134948" top="1.052072" left="825.563261" right="1415.827546"/>
<DockArea name="controller feed-forward vs actuator output (closer means controller prediction is more accurate)">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="1.082031" right="269.643117" left="0.000140" bottom="-1.050781"/>
<limitY/>
<curve name="/carOutput/actuatorsOutput/steer" color="#9467bd">
<transform name="Scale/Offset" alias="/carOutput/actuatorsOutput/steer[Scale/Offset]">
<options time_offset="0" value_scale="-1" value_offset="0"/>
<curve color="#9467bd" name="/carOutput/actuatorsOutput/steer">
<transform alias="/carOutput/actuatorsOutput/steer[Scale/Offset]" name="Scale/Offset">
<options value_scale="-1" time_offset="0" value_offset="0"/>
</transform>
</curve>
<curve name="/controlsState/lateralControlState/torqueState/f" color="#1f77b4"/>
<curve name="/carState/steeringPressed" color="#ff000f"/>
<curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/f"/>
<curve color="#ff000f" name="/carState/steeringPressed"/>
</plot>
</DockArea>
<DockArea name="...">
<plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
<range bottom="-1.373608" top="56.208012" left="825.563261" right="1415.827546"/>
<DockArea name="vehicle speed">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="101.506277" right="269.643117" left="0.000140" bottom="-2.475763"/>
<limitY/>
<curve name="carState.vEgo mph" color="#d62728"/>
<curve name="carState.vEgo kmh" color="#1ac938"/>
<curve name="/carState/vEgo" color="#ff7f0e"/>
<curve color="#d62728" name="carState.vEgo mph"/>
<curve color="#1ac938" name="carState.vEgo kmh"/>
<curve color="#ff7f0e" name="/carState/vEgo"/>
</plot>
</DockArea>
</DockSplitter>
</Container>
</Tab>
<Tab containers="1" tab_name="Actuator Performance">
<Container>
<DockSplitter count="3" sizes="0.33361;0.33278;0.33361" orientation="-">
<DockArea name="offline-calculated vs online-learned lateral accel scaling factor, accel obtained from 100% actuator output">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="4.186453" right="269.490213" left="0.000000" bottom="3.175940"/>
<limitY/>
<curve color="#1f77b4" name="/liveTorqueParameters/latAccelFactorFiltered"/>
<curve color="#d62728" name="/liveTorqueParameters/latAccelFactorRaw"/>
<curve color="#1c9222" name="/carParams/lateralTuning/torque/latAccelFactor"/>
</plot>
</DockArea>
<DockArea name="learned lateral accel offset, vehicle-specific compensation to obtain true zero lateral accel">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="0.003035" right="269.490213" left="0.000000" bottom="-0.124417"/>
<limitY/>
<curve color="#1ac938" name="/liveTorqueParameters/latAccelOffsetFiltered"/>
<curve color="#ff7f0e" name="/liveTorqueParameters/latAccelOffsetRaw"/>
</plot>
</DockArea>
<DockArea name="offline-calculated vs online-learned EPS friction factor, necessary to start moving the steering wheel">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="0.121143" right="269.490213" left="0.000000" bottom="-0.002955"/>
<limitY/>
<curve color="#f14cc1" name="/liveTorqueParameters/frictionCoefficientFiltered"/>
<curve color="#9467bd" name="/liveTorqueParameters/frictionCoefficientRaw"/>
<curve color="#1c9222" name="/carParams/lateralTuning/torque/friction"/>
</plot>
</DockArea>
</DockSplitter>
</Container>
</Tab>
<Tab containers="1" tab_name="Vehicle Dynamics">
<Container>
<DockSplitter count="3" sizes="0.33361;0.33278;0.33361" orientation="-">
<DockArea name="configured-initial vs online-learned steerRatio, set configured value to match learned">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="12.903705" right="269.638801" left="0.000000" bottom="12.748092"/>
<limitY/>
<curve color="#1f77b4" name="/carParams/steerRatio"/>
<curve color="#1ac938" name="/liveParameters/steerRatio"/>
</plot>
</DockArea>
<DockArea name="configured-initial vs online-learned tireStiffnessRatio, set configured value to match learned">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="1.000520" right="269.638801" left="0.000000" bottom="0.999718"/>
<limitY/>
<curve color="#d62728" name="/carParams/tireStiffnessFactor"/>
<curve color="#ff7f0e" name="/liveParameters/stiffnessFactor"/>
</plot>
</DockArea>
<DockArea name="live steering angle offsets for straight-ahead driving, large values here may indicate alignment problems">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="-0.332067" right="269.638801" left="0.000000" bottom="-3.149970"/>
<limitY/>
<curve color="#f14cc1" name="/liveParameters/angleOffsetAverageDeg"/>
<curve color="#9467bd" name="/liveParameters/angleOffsetDeg"/>
</plot>
</DockArea>
</DockSplitter>
</Container>
</Tab>
<Tab containers="1" tab_name="Controller PIF Terms">
<Container>
<DockSplitter count="3" sizes="0.33361;0.33278;0.33361" orientation="-">
<DockArea name="controller feed-forward vs actuator output (closer means controller prediction is more accurate)">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="1.082031" right="269.643117" left="0.000140" bottom="-1.050781"/>
<limitY/>
<curve color="#9467bd" name="/carOutput/actuatorsOutput/steer">
<transform alias="/carOutput/actuatorsOutput/steer[Scale/Offset]" name="Scale/Offset">
<options value_scale="-1.0" time_offset="0" value_offset="0"/>
</transform>
</curve>
<curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/f"/>
<curve color="#ff000f" name="/carState/steeringPressed"/>
</plot>
</DockArea>
<DockArea name="proportional, integral, and feed-forward terms (actuator output = sum of PIF terms)">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="1.572946" right="269.643117" left="0.000140" bottom="-3.822608"/>
<limitY/>
<curve color="#0ab027" name="/controlsState/lateralControlState/torqueState/f"/>
<curve color="#d62728" name="/controlsState/lateralControlState/torqueState/p"/>
<curve color="#ffaf00" name="/controlsState/lateralControlState/torqueState/i"/>
<curve color="#756a6a" name="Zero"/>
</plot>
</DockArea>
<DockArea name="road roll angle, from openpilot localizer">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="0.059127" right="269.643117" left="0.000140" bottom="-0.031841"/>
<limitY/>
<curve color="#f14cc1" name="/liveParameters/roll"/>
</plot>
</DockArea>
</DockSplitter>
</Container>
</Tab>
<Tab containers="1" tab_name="Actuator Delay Estimation">
<Container>
<DockSplitter count="4" sizes="0.25;0.25;0.25;0.25" orientation="-">
<DockArea name="desired vs actual lateral acceleration (baseline)">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
<limitY/>
<curve color="#d62728" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel"/>
<curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
</plot>
</DockArea>
<DockArea name="desired vs actual lateral acceleration (desired shifted by +0.1s)">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
<limitY/>
<curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
<transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
<options value_scale="1.0" time_offset="0.1" value_offset="0"/>
</transform>
</curve>
<curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
</plot>
</DockArea>
<DockArea name="desired vs actual lateral acceleration (desired shifted by +0.2s)">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
<limitY/>
<curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
<transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
<options value_scale="1.0" time_offset="0.2" value_offset="0"/>
</transform>
</curve>
<curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
</plot>
</DockArea>
<DockArea name="desired vs actual lateral acceleration (desired shifted by +0.3s)">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
<limitY/>
<curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
<transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
<options value_scale="1.0" time_offset="0.3" value_offset="0"/>
</transform>
</curve>
<curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
</plot>
</DockArea>
</DockSplitter>
@ -57,34 +205,39 @@
<!-- - - - - - - - - - - - - - - -->
<!-- - - - - - - - - - - - - - - -->
<customMathEquations>
<snippet name="carState.vEgo kmh">
<global></global>
<function>return value * 3.6</function>
<linked_source>/carState/vEgo</linked_source>
</snippet>
<snippet name="carState.vEgo mph">
<snippet name="Zero">
<global></global>
<function>return value * 2.23694</function>
<linked_source>/carState/vEgo</linked_source>
<function>return (0)</function>
<linked_source>/carState/canValid</linked_source>
</snippet>
<snippet name="Desired lateral accel (roll compensated)">
<snippet name="Actual lateral accel (roll compensated)">
<global></global>
<function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
<linked_source>/controlsState/desiredCurvature</linked_source>
<linked_source>/controlsState/curvature</linked_source>
<additional_sources>
<v1>/carState/vEgo</v1>
<v2>/liveParameters/roll</v2>
</additional_sources>
</snippet>
<snippet name="Actual lateral accel (roll compensated)">
<snippet name="Desired lateral accel (roll compensated)">
<global></global>
<function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
<linked_source>/controlsState/curvature</linked_source>
<linked_source>/controlsState/desiredCurvature</linked_source>
<additional_sources>
<v1>/carState/vEgo</v1>
<v2>/liveParameters/roll</v2>
</additional_sources>
</snippet>
<snippet name="carState.vEgo mph">
<global></global>
<function>return value * 2.23694</function>
<linked_source>/carState/vEgo</linked_source>
</snippet>
<snippet name="carState.vEgo kmh">
<global></global>
<function>return value * 3.6</function>
<linked_source>/carState/vEgo</linked_source>
</snippet>
</customMathEquations>
<snippets/>
<!-- - - - - - - - - - - - - - - -->

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