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firestar5683
2025-12-08 11:37:40 -06:00
parent 8818b7a1e2
commit a3df9b39f4
1 changed files with 3 additions and 2 deletions
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frogpilot/controls/lib/neural_network_feedforward.py
+3 -2
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@@ -215,6 +215,7 @@ class LatControlNNFF(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.error = 0.0
if not active:
output_torque = 0.0
pid_log.active = False
@@ -300,7 +301,7 @@ class LatControlNNFF(LatControl):
torque_from_setpoint = self.lat_torque_nn_model.evaluate(nnff_setpoint_input)
torque_from_measurement = self.lat_torque_nn_model.evaluate(nnff_measurement_input)
pid_log.error = torque_from_setpoint - torque_from_measurement
pid_log.error = float(torque_from_setpoint - torque_from_measurement)
error_blend = interp(abs(desired_lateral_accel), [1.0, 2.0], [0.0, 1.0])
if error_blend > 0.0: # blend in stronger error response when in high lat accel
@@ -316,7 +317,7 @@ class LatControlNNFF(LatControl):
# apply friction override for cars with low NN friction response
if self.nn_friction_override:
pid_log.error += self.torque_from_lateral_accel(0.0, self.torque_params)
pid_log.error += float(self.torque_from_lateral_accel(0.0, self.torque_params))
else:
torque_from_measurement = self.torque_from_lateral_accel(measurement, self.torque_params)
torque_from_setpoint = self.torque_from_lateral_accel(setpoint, self.torque_params)