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3 Commits (18a2f8dfedbb1051799cdbd7f540f1d73c3af89a)
| Author | SHA1 | Message | Date |
|---|---|---|---|
HaraldSchafer
|
efa559f9be |
Revert torque control (#24565)
* torque reversal start
* Fix carmodel tests
* Update ref
* update ref
* Elif is better than if
old-commit-hash:
|
3 years ago |
|
HaraldSchafer
|
2174005f05 |
Lateral torque-based control with roll on TSS2 corolla and TSSP rav4 (#24260)
* Initial commit
* Fix bugs
* Need more torque rate
* Cleanup cray cray control
* Write nicely
* Chiiil
* Not relevant for cray cray control
* Do some logging
* Seems like it has more torque than I thought
* Bit more feedforward
* Tune change
* Retune
* Retune
* Little more chill
* Add coroll
* Add corolla
* Give craycray a good name
* Update to proper logging
* D to the PI
* Should be in radians
* Add d
* Start oscillations
* Add D term
* Only change torque rate limits for new tune
* Add d logging
* Should be enough
* Wrong sign in D
* Downtune a little
* Needed to prevent faults
* Add lqr rav4 to tune
* Try derivative again
* Data based retune
* Data based retune
* add friction compensation
* Doesnt need too much P with friction comp
* remove lqr
* Remove kd
* Fix tests
* fix tests
* Too much error
* Get roll induced error under 1cm/deg
* Too much jitter
* Do roll comp
* Add ki
* Final update
* Update refs
* Cleanup latcontrol_torque a little more
old-commit-hash:
|
3 years ago |
Shane Smiskol
|
beeb0442ce |
base LatControl class (#21967)
* base LatControl class, move sat check out of pid.py
clean up
clean up
* fix
* global variable for min control speed
* nicer name
* unify latcontrol class init arguments
* add to release files
* saturated if close to limit
* move angle mode saturation checks into class
* check_saturation function takes in current saturated status
undo
* apply latcontrol_angle's active checking to all controllers
* clean up
* move those back
* make abstract baseclass
* add test for saturation
* keep clip
* update ref
* fix static analysis
Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash:
|
4 years ago |