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minsteer speed

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firestar5683
2025-12-14 14:28:26 -06:00
parent ea45cbf382
commit 23a5bedabc
2 changed files with 5 additions and 7 deletions
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selfdrive/controls/lib/latcontrol_pid.py
+2 -3
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@@ -1,8 +1,7 @@
import math
from cereal import log
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
from openpilot.selfdrive.controls.lib.pid import PIDController
@@ -14,7 +13,7 @@ class LatControlPID(LatControl):
pos_limit=self.steer_max, neg_limit=-self.steer_max)
self.ff_factor = CP.lateralTuning.pid.kf
self.get_steer_feedforward = CI.get_steer_feedforward_function()
self.low_speed_reset_threshold = 7 * CV.MPH_TO_MS
self.low_speed_reset_threshold = max(CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED)
def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay, llk, model_data, frogpilot_toggles):
pid_log = log.ControlsState.LateralPIDState.new_message()
selfdrive/controls/lib/latcontrol_torque.py
+3 -4
View File
@@ -3,11 +3,10 @@ import numpy as np
from collections import deque
from cereal import log
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car.interfaces import FRICTION_THRESHOLD, get_friction_threshold
from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED, get_friction
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
from openpilot.selfdrive.controls.lib.pid import PIDController
from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
@@ -53,7 +52,7 @@ class LatControlTorque(LatControl):
self.jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
self.previous_measurement = 0.0
self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * (MAX_LAT_JERK_UP - 0.5)), self.dt)
self.low_speed_reset_threshold = 7 * CV.MPH_TO_MS
self.low_speed_reset_threshold = max(CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED)
def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
self.torque_params.latAccelFactor = latAccelFactor
@@ -126,4 +125,4 @@ class LatControlTorque(LatControl):
pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
# TODO left is positive in this convention
return -output_torque, 0.0, pid_log
return -output_torque, 0.0, pid_log