openpilot_comma

6353 Commits

37 Branches

82 Tags

6.3 GiB

Tag: Branch: Tree: c9be2f02c3

Commit Graph

Author	SHA1	Message	Date
Shane Smiskol	c9be2f02c3	Clean up controllers (#24340 ) * clean up lat controllers * pass CP once * sort	3 years ago
Shane Smiskol	e834b4d9be	LatControlTorque: fix deadzone and missing steer saturated warning (#24294 ) * fix steer saturated alert and deadzone * fix and formatting * update refs * update refs * not needed * remove	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	3 years ago

Author

SHA1

Message

Date

Shane Smiskol

c9be2f02c3

Clean up controllers (#24340 )

* clean up lat controllers

* pass CP once

* sort

3 years ago

Shane Smiskol

e834b4d9be

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

* fix steer saturated alert and deadzone

* fix and formatting

* update refs

* update refs

* not needed

* remove

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

3 years ago

3 Commits (c9be2f02c3877fe00674ea7fc86912234376a36a)