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base LatControl class (#21967)

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* base LatControl class, move sat check out of pid.py

clean up

clean up

* fix

* global variable for min control speed

* nicer name

* unify latcontrol class init arguments

* add to release files

* saturated if close to limit

* move angle mode saturation checks into class

* check_saturation function takes in current saturated status

undo

* apply latcontrol_angle's active checking to all controllers

* clean up

* move those back

* make abstract baseclass

* add test for saturation

* keep clip

* update ref

* fix static analysis

Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: 9de8f8cd8c384596868edf3307da51819b28bb4b
This commit is contained in:
Shane Smiskol
2022-01-26 08:10:41 -08:00
committed by GitHub
parent d947f4ff5b
commit beeb0442ce
14 changed files with 116 additions and 106 deletions
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release/files_common
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@@ -238,6 +238,7 @@ selfdrive/controls/lib/latcontrol_angle.py
selfdrive/controls/lib/latcontrol_indi.py
selfdrive/controls/lib/latcontrol_lqr.py
selfdrive/controls/lib/latcontrol_pid.py
selfdrive/controls/lib/latcontrol.py
selfdrive/controls/lib/lateral_planner.py
selfdrive/controls/lib/longcontrol.py
selfdrive/controls/lib/longitudinal_planner.py