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3 Commits (bb5a05084063ddf5ab2a353c1ca48c3cc8566d74)
| Author | SHA1 | Message | Date |
|---|---|---|---|
HaraldSchafer
|
9f8b03753d
|
Revert torque control (#24565)
* torque reversal start * Fix carmodel tests * Update ref * update ref * Elif is better than if |
3 years ago |
|
HaraldSchafer
|
fe0bcdaef6
|
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 |
4 years ago |
Shane Smiskol
|
9de8f8cd8c
|
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> |
4 years ago |