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LatControlTorque: fix deadzone and missing steer saturated warning (#24294)

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* fix steer saturated alert and deadzone

* fix and formatting

* update refs

* update refs

* not needed

* remove
pull/24242/head^2
Shane Smiskol 3 years ago committed by GitHub
parent 6e789fae70
commit e834b4d9be
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 5 additions and 5 deletions
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  1. 8
      selfdrive/controls/lib/latcontrol_torque.py
  2. 2
      selfdrive/test/process_replay/ref_commit

8
selfdrive/controls/lib/latcontrol_torque.py
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@ -59,14 +59,14 @@ class LatControlTorque(LatControl):
pid_log.error = error pid_log.error = error
ff = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY ff = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY
# convert friction into lateral accel units for feedforward
friction_compensation = interp(desired_lateral_jerk, [-JERK_THRESHOLD, JERK_THRESHOLD], [-self.friction, self.friction])
ff += friction_compensation / CP.lateralTuning.torque.kf
output_torque = self.pid.update(error, output_torque = self.pid.update(error,
override=CS.steeringPressed, feedforward=ff, override=CS.steeringPressed, feedforward=ff,
speed=CS.vEgo, speed=CS.vEgo,
freeze_integrator=CS.steeringRateLimited) freeze_integrator=CS.steeringRateLimited)
friction_compensation = interp(desired_lateral_jerk, [-JERK_THRESHOLD, JERK_THRESHOLD], [-self.friction, self.friction])
output_torque += friction_compensation
pid_log.active = True pid_log.active = True
pid_log.p = self.pid.p pid_log.p = self.pid.p
pid_log.i = self.pid.i pid_log.i = self.pid.i
@ -75,5 +75,5 @@ class LatControlTorque(LatControl):
pid_log.output = -output_torque pid_log.output = -output_torque
pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS) pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS)
#TODO left is positive in this convention # TODO left is positive in this convention
return -output_torque, 0.0, pid_log return -output_torque, 0.0, pid_log

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
17141a8240bd8ec5defa1de2da937544c52ef0fe 999b5f3bfe249b40758dc62601a6e4118dad82ae
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