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FrogPilot 0.9.7

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FrogAi
2024-06-27 10:22:08 -07:00
parent da00915ac8
commit b705b02e70
682 changed files with 181798 additions and 1348 deletions
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selfdrive/controls/lib/pid.py
+6 -8
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@@ -59,15 +59,13 @@ class PIDController:
if override:
self.i -= self.i_unwind_rate * float(np.sign(self.i))
else:
i = self.i + error * self.k_i * self.i_rate
control = self.p + i + self.d + self.f
if not freeze_integrator:
self.i = self.i + error * self.k_i * self.i_rate
# Update when changing i will move the control away from the limits
# or when i will move towards the sign of the error
if ((error >= 0 and (control <= self.pos_limit or i < 0.0)) or
(error <= 0 and (control >= self.neg_limit or i > 0.0))) and \
not freeze_integrator:
self.i = i
# Clip i to prevent exceeding control limits
control_no_i = self.p + self.d + self.f
control_no_i = clip(control_no_i, self.neg_limit, self.pos_limit)
self.i = clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
control = self.p + self.i + self.d + self.f