Remove INDI controller (#28366)

release/files_common

@@ -181,7 +181,6 @@ selfdrive/controls/lib/desire_helper.py
 selfdrive/controls/lib/drive_helpers.py
 selfdrive/controls/lib/events.py
 selfdrive/controls/lib/latcontrol_angle.py
-selfdrive/controls/lib/latcontrol_indi.py
 selfdrive/controls/lib/latcontrol_torque.py
 selfdrive/controls/lib/latcontrol_pid.py
 selfdrive/controls/lib/latcontrol.py

selfdrive/controls/controlsd.py

@@ -20,7 +20,6 @@ from selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted
 from selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
 from selfdrive.controls.lib.longcontrol import LongControl
 from selfdrive.controls.lib.latcontrol_pid import LatControlPID
-from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
 from selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
 from selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from selfdrive.controls.lib.events import Events, ET
@@ -152,8 +151,6 @@ class Controls:
       self.LaC = LatControlAngle(self.CP, self.CI)
     elif self.CP.lateralTuning.which() == 'pid':
       self.LaC = LatControlPID(self.CP, self.CI)
-    elif self.CP.lateralTuning.which() == 'indi':
-      self.LaC = LatControlINDI(self.CP, self.CI)
     elif self.CP.lateralTuning.which() == 'torque':
       self.LaC = LatControlTorque(self.CP, self.CI)
 

selfdrive/controls/lib/latcontrol_indi.py

@@ -1,120 +0,0 @@
-import math
-import numpy as np
-
-from cereal import log
-from common.filter_simple import FirstOrderFilter
-from common.numpy_fast import clip, interp
-from common.realtime import DT_CTRL
-from selfdrive.controls.lib.latcontrol import LatControl
-
-
-class LatControlINDI(LatControl):
-  def __init__(self, CP, CI):
-    super().__init__(CP, CI)
-    self.angle_steers_des = 0.
-
-    A = np.array([[1.0, DT_CTRL, 0.0],
-                  [0.0, 1.0, DT_CTRL],
-                  [0.0, 0.0, 1.0]])
-    C = np.array([[1.0, 0.0, 0.0],
-                  [0.0, 1.0, 0.0]])
-
-    # Q = np.matrix([[1e-2, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 10.0]])
-    # R = np.matrix([[1e-2, 0.0], [0.0, 1e3]])
-
-    # (x, l, K) = control.dare(np.transpose(A), np.transpose(C), Q, R)
-    # K = np.transpose(K)
-    K = np.array([[7.30262179e-01, 2.07003658e-04],
-                  [7.29394177e+00, 1.39159419e-02],
-                  [1.71022442e+01, 3.38495381e-02]])
-
-    self.speed = 0.
-
-    self.K = K
-    self.A_K = A - np.dot(K, C)
-    self.x = np.array([[0.], [0.], [0.]])
-
-    self._RC = (CP.lateralTuning.indi.timeConstantBP, CP.lateralTuning.indi.timeConstantV)
-    self._G = (CP.lateralTuning.indi.actuatorEffectivenessBP, CP.lateralTuning.indi.actuatorEffectivenessV)
-    self._outer_loop_gain = (CP.lateralTuning.indi.outerLoopGainBP, CP.lateralTuning.indi.outerLoopGainV)
-    self._inner_loop_gain = (CP.lateralTuning.indi.innerLoopGainBP, CP.lateralTuning.indi.innerLoopGainV)
-
-    self.steer_filter = FirstOrderFilter(0., self.RC, DT_CTRL)
-    self.reset()
-
-  @property
-  def RC(self):
-    return interp(self.speed, self._RC[0], self._RC[1])
-
-  @property
-  def G(self):
-    return interp(self.speed, self._G[0], self._G[1])
-
-  @property
-  def outer_loop_gain(self):
-    return interp(self.speed, self._outer_loop_gain[0], self._outer_loop_gain[1])
-
-  @property
-  def inner_loop_gain(self):
-    return interp(self.speed, self._inner_loop_gain[0], self._inner_loop_gain[1])
-
-  def reset(self):
-    super().reset()
-    self.steer_filter.x = 0.
-    self.speed = 0.
-
-  def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
-    self.speed = CS.vEgo
-    # Update Kalman filter
-    y = np.array([[math.radians(CS.steeringAngleDeg)], [math.radians(CS.steeringRateDeg)]])
-    self.x = np.dot(self.A_K, self.x) + np.dot(self.K, y)
-
-    indi_log = log.ControlsState.LateralINDIState.new_message()
-    indi_log.steeringAngleDeg = math.degrees(self.x[0])
-    indi_log.steeringRateDeg = math.degrees(self.x[1])
-    indi_log.steeringAccelDeg = math.degrees(self.x[2])
-
-    steers_des = VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll)
-    steers_des += math.radians(params.angleOffsetDeg)
-    indi_log.steeringAngleDesiredDeg = math.degrees(steers_des)
-
-    # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature
-    rate_des = VM.get_steer_from_curvature(-desired_curvature_rate, CS.vEgo, 0)
-    indi_log.steeringRateDesiredDeg = math.degrees(rate_des)
-
-    if not active:
-      indi_log.active = False
-      self.steer_filter.x = 0.0
-      output_steer = 0
-    else:
-      # Expected actuator value
-      self.steer_filter.update_alpha(self.RC)
-      self.steer_filter.update(last_actuators.steer)
-
-      # Compute acceleration error
-      rate_sp = self.outer_loop_gain * (steers_des - self.x[0]) + rate_des
-      accel_sp = self.inner_loop_gain * (rate_sp - self.x[1])
-      accel_error = accel_sp - self.x[2]
-
-      # Compute change in actuator
-      g_inv = 1. / self.G
-      delta_u = g_inv * accel_error
-
-      # If steering pressed, only allow wind down
-      if CS.steeringPressed and (delta_u * last_actuators.steer > 0):
-        delta_u = 0
-
-      output_steer = self.steer_filter.x + delta_u
-
-      output_steer = clip(output_steer, -self.steer_max, self.steer_max)
-
-      indi_log.active = True
-      indi_log.rateSetPoint = float(rate_sp)
-      indi_log.accelSetPoint = float(accel_sp)
-      indi_log.accelError = float(accel_error)
-      indi_log.delayedOutput = float(self.steer_filter.x)
-      indi_log.delta = float(delta_u)
-      indi_log.output = float(output_steer)
-      indi_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited)
-
-    return float(output_steer), float(steers_des), indi_log

selfdrive/controls/lib/tests/test_latcontrol.py

@@ -10,14 +10,13 @@ from selfdrive.car.toyota.values import CAR as TOYOTA
 from selfdrive.car.nissan.values import CAR as NISSAN
 from selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from selfdrive.controls.lib.latcontrol_torque import LatControlTorque
-from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
 from selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 
 
 class TestLatControl(unittest.TestCase):
 
-  @parameterized.expand([(HONDA.CIVIC, LatControlPID), (TOYOTA.RAV4, LatControlTorque), (TOYOTA.PRIUS, LatControlINDI), (NISSAN.LEAF, LatControlAngle)])
+  @parameterized.expand([(HONDA.CIVIC, LatControlPID), (TOYOTA.RAV4, LatControlTorque),  (NISSAN.LEAF, LatControlAngle)])
   def test_saturation(self, car_name, controller):
     CarInterface, CarController, CarState = interfaces[car_name]
     CP = CarInterface.get_non_essential_params(car_name)