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Change car controller interface from gas/brake to acceleration (#21911)

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* retune civic

* seems smooth

* back to normal

* new ref

* fix conflict

* runs

* rm

* accel scale is 4

* toyota should be good

* more cleanup

* fixup

* better naming

* update ref

* deprecated

* sending brake when not enable causes a fault

* rm gas and brake

* unused

* update ref

* acura logic is no more

* wrong before

* revert tuning cleanup

* adress comments

* update ref

* already on master

Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: 1ac89f14aa7c45c56049e8dbb0d6c5bb83a0fc6b
This commit is contained in:
HaraldSchafer
2021-08-30 18:32:52 +02:00
committed by GitHub
parent aef4c52559
commit a73a820338
22 changed files with 103 additions and 181 deletions
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tools/replay/ui.py
+5 -2
View File
@@ -10,6 +10,7 @@ import numpy as np
import pygame # pylint: disable=import-error
import cereal.messaging as messaging
from common.numpy_fast import clip
from common.basedir import BASEDIR
from selfdrive.config import UIParams as UP
from tools.replay.lib.ui_helpers import (_BB_TO_FULL_FRAME, _FULL_FRAME_SIZE,
@@ -146,10 +147,12 @@ def ui_thread(addr, frame_address):
plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg
plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gas
plot_arr[-1, name_to_arr_idx['computer_gas']] = sm['carControl'].actuators.gas
# TODO gas is deprecated
plot_arr[-1, name_to_arr_idx['computer_gas']] = clip(sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake
plot_arr[-1, name_to_arr_idx['steer_torque']] = sm['carControl'].actuators.steer * ANGLE_SCALE
plot_arr[-1, name_to_arr_idx['computer_brake']] = sm['carControl'].actuators.brake
# TODO brake is deprecated
plot_arr[-1, name_to_arr_idx['computer_brake']] = clip(-sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
plot_arr[-1, name_to_arr_idx['v_ego']] = sm['carState'].vEgo
plot_arr[-1, name_to_arr_idx['v_pid']] = sm['controlsState'].vPid
plot_arr[-1, name_to_arr_idx['v_override']] = sm['carControl'].cruiseControl.speedOverride
tools/sim/bridge.py
+5 -3
View File
@@ -11,6 +11,7 @@ from typing import Any
import cereal.messaging as messaging
from common.params import Params
from common.numpy_fast import clip
from common.realtime import Ratekeeper, DT_DMON
from lib.can import can_function
from selfdrive.car.honda.values import CruiseButtons
@@ -295,9 +296,10 @@ def bridge(q):
if is_openpilot_engaged:
sm.update(0)
throttle_op = sm['carControl'].actuators.gas #[0,1]
brake_op = sm['carControl'].actuators.brake #[0,1]
steer_op = sm['carControl'].actuators.steeringAngleDeg
# TODO gas and brake is deprecated
throttle_op = clip(sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
brake_op = clip(-sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
steer_op = sm['carControl'].actuators.steeringAngleDeg
throttle_out = throttle_op
steer_out = steer_op