mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-07-01 19:42:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

controls: don't wind up while EPS is faulted or below min steer speed (#22739)

Browse Source 
* controlsd: don't wind up while EPS is faulted

* also check if above min steer speed

* car params
old-commit-hash: 385f3c5387cceb8e23c2d57752f81a2e919104aa
This commit is contained in:
Adeeb Shihadeh
2021-10-29 14:13:41 -07:00
committed by GitHub
parent d2a6eeae42
commit 421a5db493
1 changed files with 2 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/controlsd.py
+2 -1
View File
@@ -490,11 +490,12 @@ class Controls:
actuators.accel = self.LoC.update(self.active, CS, self.CP, long_plan, pid_accel_limits)
# Steering PID loop and lateral MPC
lat_active = self.active and not CS.steerWarning and not CS.steerError and CS.vEgo > self.CP.minSteerSpeed
desired_curvature, desired_curvature_rate = get_lag_adjusted_curvature(self.CP, CS.vEgo,
lat_plan.psis,
lat_plan.curvatures,
lat_plan.curvatureRates)
actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(self.active, CS, self.CP, self.VM, params,
actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(lat_active, CS, self.CP, self.VM, params,
desired_curvature, desired_curvature_rate)
else:
lac_log = log.ControlsState.LateralDebugState.new_message()