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New Lateral Changes

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This commit is contained in:
firestar5683
2025-11-18 15:43:52 -06:00
parent 77597e60b2
commit 884fcb8315
9 changed files with 82 additions and 88 deletions
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cereal/car.capnp
+3 -3
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@@ -530,14 +530,14 @@ struct CarParams {
struct LateralTorqueTuning {
useSteeringAngle @0 :Bool;
kp @1 :Float32;
ki @2 :Float32;
kd @8 : Float32;
friction @3 :Float32;
steeringAngleDeadzoneDeg @5 :Float32;
latAccelFactor @6 :Float32;
latAccelOffset @7 :Float32;
kpDEPRECATED @1 :Float32;
kiDEPRECATED @2 :Float32;
kfDEPRECATED @4 :Float32;
kdDEPRECATED @8 : Float32;
}
struct LongitudinalPIDTuning {
cereal/gen/cpp/car.capnp.c++
+35 -38
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@@ -5262,7 +5262,7 @@ const ::capnp::_::RawSchema s_9622723fcbd14c2e = {
0, 5, i_9622723fcbd14c2e, nullptr, nullptr, { &s_9622723fcbd14c2e, nullptr, nullptr, 0, 0, nullptr }, false
};
#endif // !CAPNP_LITE
static const ::capnp::_::AlignedData<166> b_80366e0e804ecc1d = {
static const ::capnp::_::AlignedData<163> b_80366e0e804ecc1d = {
{ 0, 0, 0, 0, 5, 0, 6, 0,
29, 204, 78, 128, 14, 110, 54, 128,
20, 0, 0, 0, 1, 0, 5, 0,
@@ -5289,62 +5289,62 @@ static const ::capnp::_::AlignedData<166> b_80366e0e804ecc1d = {
0, 0, 0, 0, 0, 0, 0, 0,
240, 0, 0, 0, 3, 0, 1, 0,
252, 0, 0, 0, 2, 0, 1, 0,
5, 0, 0, 0, 1, 0, 0, 0,
1, 0, 0, 0, 1, 0, 0, 0,
0, 0, 1, 0, 1, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
249, 0, 0, 0, 106, 0, 0, 0,
249, 0, 0, 0, 26, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
244, 0, 0, 0, 3, 0, 1, 0,
0, 1, 0, 0, 2, 0, 1, 0,
2, 0, 0, 0, 2, 0, 0, 0,
0, 0, 1, 0, 2, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
253, 0, 0, 0, 26, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
248, 0, 0, 0, 3, 0, 1, 0,
4, 1, 0, 0, 2, 0, 1, 0,
6, 0, 0, 0, 2, 0, 0, 0,
0, 0, 1, 0, 2, 0, 0, 0,
4, 0, 0, 0, 3, 0, 0, 0,
0, 0, 1, 0, 3, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
1, 1, 0, 0, 106, 0, 0, 0,
1, 1, 0, 0, 74, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 1, 0, 0, 3, 0, 1, 0,
12, 1, 0, 0, 2, 0, 1, 0,
1, 0, 0, 0, 3, 0, 0, 0,
0, 0, 1, 0, 3, 0, 0, 0,
8, 0, 0, 0, 4, 0, 0, 0,
0, 0, 1, 0, 4, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
9, 1, 0, 0, 74, 0, 0, 0,
9, 1, 0, 0, 106, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
8, 1, 0, 0, 3, 0, 1, 0,
20, 1, 0, 0, 2, 0, 1, 0,
7, 0, 0, 0, 4, 0, 0, 0,
0, 0, 1, 0, 4, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
17, 1, 0, 0, 106, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
16, 1, 0, 0, 3, 0, 1, 0,
28, 1, 0, 0, 2, 0, 1, 0,
2, 0, 0, 0, 5, 0, 0, 0,
5, 0, 0, 0, 5, 0, 0, 0,
0, 0, 1, 0, 5, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
25, 1, 0, 0, 202, 0, 0, 0,
17, 1, 0, 0, 202, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
24, 1, 0, 0, 3, 0, 1, 0,
36, 1, 0, 0, 2, 0, 1, 0,
6, 0, 0, 0, 6, 0, 0, 0,
0, 0, 1, 0, 6, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
33, 1, 0, 0, 122, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
32, 1, 0, 0, 3, 0, 1, 0,
44, 1, 0, 0, 2, 0, 1, 0,
3, 0, 0, 0, 6, 0, 0, 0,
0, 0, 1, 0, 6, 0, 0, 0,
7, 0, 0, 0, 7, 0, 0, 0,
0, 0, 1, 0, 7, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
41, 1, 0, 0, 122, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
40, 1, 0, 0, 3, 0, 1, 0,
52, 1, 0, 0, 2, 0, 1, 0,
4, 0, 0, 0, 7, 0, 0, 0,
0, 0, 1, 0, 7, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
49, 1, 0, 0, 122, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
48, 1, 0, 0, 3, 0, 1, 0,
60, 1, 0, 0, 2, 0, 1, 0,
8, 0, 0, 0, 8, 0, 0, 0,
3, 0, 0, 0, 8, 0, 0, 0,
0, 0, 1, 0, 8, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
57, 1, 0, 0, 106, 0, 0, 0,
49, 1, 0, 0, 26, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
56, 1, 0, 0, 3, 0, 1, 0,
68, 1, 0, 0, 2, 0, 1, 0,
44, 1, 0, 0, 3, 0, 1, 0,
56, 1, 0, 0, 2, 0, 1, 0,
117, 115, 101, 83, 116, 101, 101, 114,
105, 110, 103, 65, 110, 103, 108, 101,
0, 0, 0, 0, 0, 0, 0, 0,
@@ -5355,8 +5355,7 @@ static const ::capnp::_::AlignedData<166> b_80366e0e804ecc1d = {
1, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
107, 112, 68, 69, 80, 82, 69, 67,
65, 84, 69, 68, 0, 0, 0, 0,
107, 112, 0, 0, 0, 0, 0, 0,
10, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
@@ -5364,8 +5363,7 @@ static const ::capnp::_::AlignedData<166> b_80366e0e804ecc1d = {
10, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
107, 105, 68, 69, 80, 82, 69, 67,
65, 84, 69, 68, 0, 0, 0, 0,
107, 105, 0, 0, 0, 0, 0, 0,
10, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
@@ -5420,8 +5418,7 @@ static const ::capnp::_::AlignedData<166> b_80366e0e804ecc1d = {
10, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
107, 100, 68, 69, 80, 82, 69, 67,
65, 84, 69, 68, 0, 0, 0, 0,
107, 100, 0, 0, 0, 0, 0, 0,
10, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
@@ -5435,7 +5432,7 @@ static const ::capnp::_::AlignedData<166> b_80366e0e804ecc1d = {
static const uint16_t m_80366e0e804ecc1d[] = {3, 8, 4, 2, 1, 6, 7, 5, 0};
static const uint16_t i_80366e0e804ecc1d[] = {0, 1, 2, 3, 4, 5, 6, 7, 8};
const ::capnp::_::RawSchema s_80366e0e804ecc1d = {
0x80366e0e804ecc1d, b_80366e0e804ecc1d.words, 166, nullptr, m_80366e0e804ecc1d,
0x80366e0e804ecc1d, b_80366e0e804ecc1d.words, 163, nullptr, m_80366e0e804ecc1d,
0, 9, i_80366e0e804ecc1d, nullptr, nullptr, { &s_80366e0e804ecc1d, nullptr, nullptr, 0, 0, nullptr }, false
};
#endif // !CAPNP_LITE
cereal/gen/cpp/car.capnp.h
+18 -18
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@@ -3134,9 +3134,9 @@ public:
inline bool getUseSteeringAngle() const;
inline float getKpDEPRECATED() const;
inline float getKp() const;
inline float getKiDEPRECATED() const;
inline float getKi() const;
inline float getFriction() const;
@@ -3148,7 +3148,7 @@ public:
inline float getLatAccelOffset() const;
inline float getKdDEPRECATED() const;
inline float getKd() const;
private:
::capnp::_::StructReader _reader;
@@ -3181,11 +3181,11 @@ public:
inline bool getUseSteeringAngle();
inline void setUseSteeringAngle(bool value);
inline float getKpDEPRECATED();
inline void setKpDEPRECATED(float value);
inline float getKp();
inline void setKp(float value);
inline float getKiDEPRECATED();
inline void setKiDEPRECATED(float value);
inline float getKi();
inline void setKi(float value);
inline float getFriction();
inline void setFriction(float value);
@@ -3202,8 +3202,8 @@ public:
inline float getLatAccelOffset();
inline void setLatAccelOffset(float value);
inline float getKdDEPRECATED();
inline void setKdDEPRECATED(float value);
inline float getKd();
inline void setKd(float value);
private:
::capnp::_::StructBuilder _builder;
@@ -7754,30 +7754,30 @@ inline void CarParams::LateralTorqueTuning::Builder::setUseSteeringAngle(bool va
::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
}
inline float CarParams::LateralTorqueTuning::Reader::getKpDEPRECATED() const {
inline float CarParams::LateralTorqueTuning::Reader::getKp() const {
return _reader.getDataField<float>(
::capnp::bounded<1>() * ::capnp::ELEMENTS);
}
inline float CarParams::LateralTorqueTuning::Builder::getKpDEPRECATED() {
inline float CarParams::LateralTorqueTuning::Builder::getKp() {
return _builder.getDataField<float>(
::capnp::bounded<1>() * ::capnp::ELEMENTS);
}
inline void CarParams::LateralTorqueTuning::Builder::setKpDEPRECATED(float value) {
inline void CarParams::LateralTorqueTuning::Builder::setKp(float value) {
_builder.setDataField<float>(
::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
}
inline float CarParams::LateralTorqueTuning::Reader::getKiDEPRECATED() const {
inline float CarParams::LateralTorqueTuning::Reader::getKi() const {
return _reader.getDataField<float>(
::capnp::bounded<2>() * ::capnp::ELEMENTS);
}
inline float CarParams::LateralTorqueTuning::Builder::getKiDEPRECATED() {
inline float CarParams::LateralTorqueTuning::Builder::getKi() {
return _builder.getDataField<float>(
::capnp::bounded<2>() * ::capnp::ELEMENTS);
}
inline void CarParams::LateralTorqueTuning::Builder::setKiDEPRECATED(float value) {
inline void CarParams::LateralTorqueTuning::Builder::setKi(float value) {
_builder.setDataField<float>(
::capnp::bounded<2>() * ::capnp::ELEMENTS, value);
}
@@ -7852,16 +7852,16 @@ inline void CarParams::LateralTorqueTuning::Builder::setLatAccelOffset(float val
::capnp::bounded<7>() * ::capnp::ELEMENTS, value);
}
inline float CarParams::LateralTorqueTuning::Reader::getKdDEPRECATED() const {
inline float CarParams::LateralTorqueTuning::Reader::getKd() const {
return _reader.getDataField<float>(
::capnp::bounded<8>() * ::capnp::ELEMENTS);
}
inline float CarParams::LateralTorqueTuning::Builder::getKdDEPRECATED() {
inline float CarParams::LateralTorqueTuning::Builder::getKd() {
return _builder.getDataField<float>(
::capnp::bounded<8>() * ::capnp::ELEMENTS);
}
inline void CarParams::LateralTorqueTuning::Builder::setKdDEPRECATED(float value) {
inline void CarParams::LateralTorqueTuning::Builder::setKd(float value) {
_builder.setDataField<float>(
::capnp::bounded<8>() * ::capnp::ELEMENTS, value);
}
cereal/libcereal_shared.so
BIN
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Binary file not shown.
frogpilot/common/frogpilot_variables.py
+1 -2
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@@ -19,7 +19,6 @@ from openpilot.selfdrive.car.mock.interface import CarInterface
from openpilot.selfdrive.car.mock.values import CAR as MOCK
from openpilot.selfdrive.car.toyota.values import ToyotaFlags, ToyotaFrogPilotFlags
from openpilot.selfdrive.controls.lib.desire_helper import LANE_CHANGE_SPEED_MIN
from openpilot.selfdrive.controls.lib.latcontrol_torque import KP
from openpilot.selfdrive.modeld.constants import ModelConstants
from openpilot.system.hardware import HARDWARE
from openpilot.system.hardware.power_monitoring import VBATT_PAUSE_CHARGING
@@ -572,7 +571,7 @@ class FrogPilotVariables:
startAccel = CP.startAccel
stopAccel = CP.stopAccel
steerActuatorDelay = CP.steerActuatorDelay
steerKp = CP.lateralTuning.pid.kp if CP.lateralTuning.which() == "pid" else KP
steerKp = CP.lateralTuning.torque.kp
steerRatio = CP.steerRatio
toggle.stoppingDecelRate = CP.stoppingDecelRate
taco_hacks_allowed = CP.safetyConfigs[0].safetyModel == SafetyModel.hyundaiCanfd
frogpilot/controls/lib/neural_network_feedforward.py
+1 -2
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@@ -13,7 +13,6 @@ from openpilot.common.numpy_fast import interp
from openpilot.common.params import Params
from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
from openpilot.selfdrive.controls.lib.latcontrol_torque import KD, KI, KP
from openpilot.selfdrive.controls.lib.pid import PIDController
from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
from openpilot.selfdrive.modeld.constants import ModelConstants
@@ -162,7 +161,7 @@ class LatControlNNFF(LatControl):
self.nnff_loaded = self.lat_torque_nn_model is not None
self.torque_params = CP.lateralTuning.torque
self.pid = PIDController(KP, KI, k_d=KD,
self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
pos_limit=self.steer_max, neg_limit=-self.steer_max)
self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
self.use_steering_angle = self.torque_params.useSteeringAngle
selfdrive/car/interfaces.py
+4
View File
@@ -283,6 +283,7 @@ class CarInterfaceBase(ABC):
ret.vEgoStopping = 0.5
ret.vEgoStarting = 0.5
ret.stoppingControl = True
ret.longitudinalTuning.kfDEPRECATED = 1.
ret.longitudinalTuning.kpBP = [0.]
ret.longitudinalTuning.kpV = [0.]
ret.longitudinalTuning.kiBP = [0.]
@@ -298,6 +299,9 @@ class CarInterfaceBase(ABC):
tune.init('torque')
tune.torque.useSteeringAngle = use_steering_angle
tune.torque.kp = 0.6
tune.torque.ki = 0.3
tune.torque.kd = 0.0
tune.torque.friction = params['FRICTION']
tune.torque.latAccelFactor = params['LAT_ACCEL_FACTOR']
tune.torque.latAccelOffset = 0.0
selfdrive/controls/controlsd.py
+1 -1
View File
@@ -773,7 +773,7 @@ class Controls:
if self.frogpilot_toggles.conditional_experimental_mode or self.frogpilot_toggles.slc_fallback_experimental_mode:
self.experimental_mode = self.sm['frogpilotPlan'].experimentalMode
if hasattr(self.LaC, "pid"):
if hasattr(self.LaC, "pid") and self.CP.lateralTuning.which() != "pid":
self.LaC.pid._k_p = self.frogpilot_toggles.steerKp
# Update FrogPilot variables
selfdrive/controls/lib/latcontrol_torque.py
+19 -24
View File
@@ -16,20 +16,15 @@ from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_G
# wheel slip, or to speed.
# This controller applies torque to achieve desired lateral
# accelerations. To compensate for the low speed effects the
# proportional gain is increased at low speeds by the PID controller.
# Additionally, there is friction in the steering wheel that needs
# to be overcome to move it at all, this is compensated for too.
# accelerations. To compensate for the low speed effects we
# use a LOW_SPEED_FACTOR in the error. Additionally, there is
# friction in the steering wheel that needs to be overcome to
# move it at all, this is compensated for too.
KP = 0.6
KI = 0.3
KD = 0.0
INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
LOW_SPEED_X = [0, 10, 20, 30]
LOW_SPEED_Y = [15, 13, 10, 5]
LP_FILTER_CUTOFF_HZ = 1.2
LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
VERSION = 0
MAX_LAT_JERK_UP = 2.5 # m/s^3
class LatControlTorque(LatControl):
def __init__(self, CP, CI, dt):
@@ -37,13 +32,13 @@ class LatControlTorque(LatControl):
self.torque_params = CP.lateralTuning.torque
self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, KD, rate=1/self.dt)
self.pid = PIDController(self.torque_params.kp, self.torque_params.ki, rate=1/self.dt)
self.update_limits()
self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
self.lat_accel_request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt)
self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len)
self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES = int(1 / self.dt)
self.requested_lateral_accel_buffer = deque([0.] * self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES , maxlen=self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES)
self.previous_measurement = 0.0
self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * (MAX_LAT_JERK_UP - 0.5)), self.dt)
def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
self.torque_params.latAccelFactor = latAccelFactor
@@ -57,7 +52,6 @@ class LatControlTorque(LatControl):
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.LateralTorqueState.new_message()
pid_log.version = VERSION
if not active:
output_torque = 0.0
pid_log.active = False
@@ -67,11 +61,11 @@ class LatControlTorque(LatControl):
curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
delay_frames = int(np.clip(lat_delay / self.dt, 1, self.lat_accel_request_buffer_len))
expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
delay_frames = int(np.clip(lat_delay / self.dt, 1, self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES))
expected_lateral_accel = self.requested_lateral_accel_buffer[-delay_frames]
# TODO factor out lateral jerk from error to later replace it with delay independent alternative
future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
self.lat_accel_request_buffer.append(future_desired_lateral_accel)
self.requested_lateral_accel_buffer.append(future_desired_lateral_accel)
gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
desired_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / lat_delay
@@ -79,11 +73,13 @@ class LatControlTorque(LatControl):
measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
self.previous_measurement = measurement
low_speed_factor = (np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y) / max(CS.vEgo, MIN_SPEED)) ** 2
setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
error = setpoint - measurement
error_lsf = error + low_speed_factor / self.torque_params.kp * error
# do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
pid_log.error = float(error)
pid_log.error = float(error_lsf)
ff = gravity_adjusted_future_lateral_accel
# latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
ff -= self.torque_params.latAccelOffset
@@ -103,11 +99,10 @@ class LatControlTorque(LatControl):
pid_log.i = float(self.pid.i)
pid_log.d = float(self.pid.d)
pid_log.f = float(self.pid.f)
pid_log.output = float(-output_torque) # TODO: log lat accel?
pid_log.output = float(-output_torque) # TODO: log lat accel?
pid_log.actualLateralAccel = float(measurement)
pid_log.desiredLateralAccel = float(setpoint)
pid_log.desiredLateralJerk = float(desired_lateral_jerk)
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