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cleanup old nidec accel override logic (#22181)

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* cleanup old nidec accel override logic

* add ref without deprecated fields

* no more override
old-commit-hash: 74b6c872545ac64055a914789a89ccc173168d8b
This commit is contained in:
HaraldSchafer
2021-09-10 10:34:18 -07:00
committed by GitHub
parent e9ebd076f7
commit cb1cd01bdf
8 changed files with 8 additions and 74 deletions
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selfdrive/controls/controlsd.py
+1 -13
View File
@@ -149,8 +149,6 @@ class Controls:
self.events_prev = []
self.current_alert_types = [ET.PERMANENT]
self.logged_comm_issue = False
self.v_target = 0.0
self.a_target = 0.0
# TODO: no longer necessary, aside from process replay
self.sm['liveParameters'].valid = True
@@ -464,7 +462,7 @@ class Controls:
if not self.joystick_mode:
# accel PID loop
pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_kph * CV.KPH_TO_MS)
actuators.accel, self.v_target, self.a_target = self.LoC.update(self.active, CS, self.CP, long_plan, pid_accel_limits)
actuators.accel = self.LoC.update(self.active, CS, self.CP, long_plan, pid_accel_limits)
# Steering PID loop and lateral MPC
desired_curvature, desired_curvature_rate = get_lag_adjusted_curvature(self.CP, CS.vEgo,
@@ -527,20 +525,10 @@ class Controls:
CC.enabled = self.enabled
CC.actuators = actuators
CC.cruiseControl.override = True
CC.cruiseControl.cancel = not self.CP.pcmCruise or (not self.enabled and CS.cruiseState.enabled)
if self.joystick_mode and self.sm.rcv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
CC.cruiseControl.cancel = True
# TODO remove car specific stuff in controls
# Some override values for Honda
# brake discount removes a sharp nonlinearity
brake_discount = (1.0 - clip(-actuators.accel * (3.0/4.0), 0.0, 1.0))
speed_override = max(0.0, (self.LoC.v_pid + CS.cruiseState.speedOffset) * brake_discount)
CC.cruiseControl.speedOverride = float(speed_override if self.CP.pcmCruise else 0.0)
CC.cruiseControl.accelOverride = float(self.CI.calc_accel_override(CS.aEgo, self.a_target,
CS.vEgo, self.v_target))
CC.hudControl.setSpeed = float(self.v_cruise_kph * CV.KPH_TO_MS)
CC.hudControl.speedVisible = self.enabled
CC.hudControl.lanesVisible = self.enabled
selfdrive/controls/lib/longcontrol.py
+1 -1
View File
@@ -136,4 +136,4 @@ class LongControl():
self.last_output_accel = output_accel
final_accel = clip(output_accel, accel_limits[0], accel_limits[1])
return final_accel, v_target, a_target
return final_accel