Zero error

selfdrive/controls/lib/latcontrol_pid.py

@@ -1,6 +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.pid import PIDController
 
@@ -13,6 +14,7 @@ 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
 
   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()
@@ -32,7 +34,9 @@ class LatControlPID(LatControl):
     else:
       # offset does not contribute to resistive torque
       ff = self.ff_factor * self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
-      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+      if CS.vEgo < self.low_speed_reset_threshold:
+        self.pid.reset()
+      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < self.low_speed_reset_threshold
 
       output_torque = self.pid.update(error,
                                 feedforward=ff,

selfdrive/controls/lib/latcontrol_torque.py

@@ -3,6 +3,7 @@ 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
@@ -52,6 +53,7 @@ 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
 
   def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
     self.torque_params.latAccelFactor = latAccelFactor
@@ -106,7 +108,9 @@ class LatControlTorque(LatControl):
       ff -= self.torque_params.latAccelOffset
       ff += get_friction(error_with_lsf + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, get_friction_threshold(CS.vEgo), self.torque_params)
 
-      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+      if CS.vEgo < self.low_speed_reset_threshold:
+        self.pid.reset()
+      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < self.low_speed_reset_threshold
       output_lataccel = self.pid.update(pid_log.error, error_rate=-measurement_rate, speed=CS.vEgo, feedforward=ff, freeze_integrator=freeze_integrator)
       output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)