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apply_ti_steer_torque_limits

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MoreTore
2025-04-26 12:35:54 -05:00
parent 439560257f
commit 4bcf4a1350
1 changed files with 22 additions and 0 deletions
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selfdrive/car/__init__.py
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@@ -108,6 +108,28 @@ def apply_driver_steer_torque_limits(apply_torque, apply_torque_last, driver_tor
return int(round(float(apply_torque)))
#alternate settings when using torque interceptor. May or may not be useful to some users/branches.
def apply_ti_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS):
# limits due to driver torque
driver_max_torque = LIMITS.TI_STEER_MAX + (LIMITS.TI_STEER_DRIVER_ALLOWANCE +
driver_torque * LIMITS.TI_STEER_DRIVER_FACTOR) * LIMITS.TI_STEER_DRIVER_MULTIPLIER
driver_min_torque = -LIMITS.TI_STEER_MAX + (-LIMITS.TI_STEER_DRIVER_ALLOWANCE + driver_torque *
LIMITS.TI_STEER_DRIVER_FACTOR) * LIMITS.TI_STEER_DRIVER_MULTIPLIER
max_steer_allowed = max(min(LIMITS.TI_STEER_MAX, driver_max_torque), 0)
min_steer_allowed = min(max(-LIMITS.TI_STEER_MAX, driver_min_torque), 0)
apply_torque = clip(apply_torque, min_steer_allowed, max_steer_allowed)
# slow rate if steer torque increases in magnitude
if apply_torque_last > 0:
apply_torque = clip(apply_torque, max(apply_torque_last - LIMITS.TI_STEER_DELTA_DOWN, -LIMITS.TI_STEER_DELTA_UP),
apply_torque_last + LIMITS.TI_STEER_DELTA_UP)
else:
apply_torque = clip(apply_torque, apply_torque_last - LIMITS.TI_STEER_DELTA_UP,
min(apply_torque_last + LIMITS.TI_STEER_DELTA_DOWN, LIMITS.TI_STEER_DELTA_UP))
return int(round(float(apply_torque)))
def apply_dist_to_meas_limits(val, val_last, val_meas,
STEER_DELTA_UP, STEER_DELTA_DOWN,