mawei/MoreTore
1
0
Fork 0
mirror of https://github.com/MoreTore/openpilot.git synced 2026-10-01 03:43:51 +08:00
Code Issues Packages Projects Releases Wiki Activity

Lateral torque-based control with roll on TSS2 corolla and TSSP rav4 (#24260)

Browse Source 
* 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
This commit is contained in:
HaraldSchafer
2022-04-19 19:34:31 -07:00
committed by GitHub
parent 6877059b45
commit fe0bcdaef6
16 changed files with 120 additions and 123 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/controlsd.py
+6 -6
View File
@@ -20,8 +20,8 @@ from selfdrive.controls.lib.drive_helpers import get_lag_adjusted_curvature
from selfdrive.controls.lib.longcontrol import LongControl
from selfdrive.controls.lib.latcontrol_pid import LatControlPID
from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
from selfdrive.controls.lib.latcontrol_lqr import LatControlLQR
from selfdrive.controls.lib.latcontrol_angle import LatControlAngle
from selfdrive.controls.lib.latcontrol_torque import LatControlTorque
from selfdrive.controls.lib.events import Events, ET
from selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
from selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -144,8 +144,8 @@ class Controls:
self.LaC = LatControlPID(self.CP, self.CI)
elif self.CP.lateralTuning.which() == 'indi':
self.LaC = LatControlINDI(self.CP, self.CI)
elif self.CP.lateralTuning.which() == 'lqr':
self.LaC = LatControlLQR(self.CP, self.CI)
elif self.CP.lateralTuning.which() == 'torque':
self.LaC = LatControlTorque(self.CP, self.CI)
self.initialized = False
self.state = State.disabled
@@ -566,7 +566,7 @@ class Controls:
lat_plan.curvatureRates)
actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.CP, self.VM,
params, self.last_actuators, desired_curvature,
desired_curvature_rate)
desired_curvature_rate, self.sm['liveLocationKalman'])
else:
lac_log = log.ControlsState.LateralDebugState.new_message()
if self.sm.rcv_frame['testJoystick'] > 0:
@@ -730,8 +730,8 @@ class Controls:
controlsState.lateralControlState.angleState = lac_log
elif lat_tuning == 'pid':
controlsState.lateralControlState.pidState = lac_log
elif lat_tuning == 'lqr':
controlsState.lateralControlState.lqrState = lac_log
elif lat_tuning == 'torque':
controlsState.lateralControlState.torqueState = lac_log
elif lat_tuning == 'indi':
controlsState.lateralControlState.indiState = lac_log