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Refactor lateral lag compensation (#21334)

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* add T_IDXS

* refactor

* fix test

* unused

* typo

* needs casting

* Update selfdrive/controls/lib/drive_helpers.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* deprecate field

* regen all

* new segs

* add todo

* split back

* clean

* bad names

* do in controls

* add arg

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 6838e1c82c5abb9f347228006219d96744b3fbb5
This commit is contained in:
HaraldSchafer
2021-06-30 16:19:39 -05:00
committed by GitHub
parent 3a6b434870
commit 7e87930a20
21 changed files with 145 additions and 662 deletions
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tools/sim/bridge.py
+1 -1
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@@ -297,7 +297,7 @@ def bridge(q):
sm.update(0)
throttle_op = sm['carControl'].actuators.gas #[0,1]
brake_op = sm['carControl'].actuators.brake #[0,1]
steer_op = sm['controlsState'].steeringAngleDesiredDeg # degrees [-180,180]
steer_op = sm['carControl'].actuators.steeringAngleDeg
throttle_out = throttle_op
steer_out = steer_op