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torque controller: clean up friction (#35781)

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* conditional friction inside here is confusing

* do it here

* one line

* run

* bump
This commit is contained in:
Shane Smiskol
2025-07-21 20:27:34 -07:00
committed by GitHub
parent 4b73f3b169
commit bc7d6f2677
2 changed files with 5 additions and 4 deletions
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opendbc_repo
+1 -1
Submodule opendbc_repo updated: 36812afaf5...d70e2029ac
selfdrive/controls/lib/latcontrol_torque.py
+4 -3
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@@ -2,6 +2,7 @@ import math
import numpy as np
from cereal import log
from opendbc.car import FRICTION_THRESHOLD, get_friction
from opendbc.car.interfaces import LatControlInputs
from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
@@ -57,13 +58,13 @@ class LatControlTorque(LatControl):
measurement = actual_lateral_accel + low_speed_factor * actual_curvature
gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation
torque_from_setpoint = self.torque_from_lateral_accel(LatControlInputs(setpoint, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
setpoint, lateral_accel_deadzone, friction_compensation=False, gravity_adjusted=False)
gravity_adjusted=False)
torque_from_measurement = self.torque_from_lateral_accel(LatControlInputs(measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
measurement, lateral_accel_deadzone, friction_compensation=False, gravity_adjusted=False)
gravity_adjusted=False)
pid_log.error = float(torque_from_setpoint - torque_from_measurement)
ff = self.torque_from_lateral_accel(LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, friction_compensation=True,
gravity_adjusted=True)
ff += get_friction(desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
output_torque = self.pid.update(pid_log.error,