You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
48 lines
2.0 KiB
48 lines
2.0 KiB
import math
|
|
|
|
from cereal import log
|
|
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
|
|
from openpilot.common.pid import PIDController
|
|
|
|
|
|
class LatControlPID(LatControl):
|
|
def __init__(self, CP, CI):
|
|
super().__init__(CP, CI)
|
|
self.pid = PIDController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
|
|
(CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
|
|
k_f=CP.lateralTuning.pid.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
|
|
self.get_steer_feedforward = CI.get_steer_feedforward_function()
|
|
|
|
def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited):
|
|
pid_log = log.ControlsState.LateralPIDState.new_message()
|
|
pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
|
|
pid_log.steeringRateDeg = float(CS.steeringRateDeg)
|
|
|
|
angle_steers_des_no_offset = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
|
|
angle_steers_des = angle_steers_des_no_offset + params.angleOffsetDeg
|
|
error = angle_steers_des - CS.steeringAngleDeg
|
|
|
|
pid_log.steeringAngleDesiredDeg = angle_steers_des
|
|
pid_log.angleError = error
|
|
if not active:
|
|
output_torque = 0.0
|
|
pid_log.active = False
|
|
|
|
else:
|
|
# offset does not contribute to resistive torque
|
|
ff = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
|
|
freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
|
|
|
|
output_torque = self.pid.update(error,
|
|
feedforward=ff,
|
|
speed=CS.vEgo,
|
|
freeze_integrator=freeze_integrator)
|
|
|
|
pid_log.active = True
|
|
pid_log.p = float(self.pid.p)
|
|
pid_log.i = float(self.pid.i)
|
|
pid_log.f = float(self.pid.f)
|
|
pid_log.output = float(output_torque)
|
|
pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
|
|
|
|
return output_torque, angle_steers_des, pid_log
|
|
|