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INDI: Time constant is used based on breakpoints (#19858)

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* Time constant is used based on break points

* no need for alpha class variable
old-commit-hash: 76cf50066936e60a9a6c0fd144d48f33728e12c6
This commit is contained in:
Shane Smiskol
2021-01-21 08:14:50 -06:00
committed by GitHub
parent ded5d24781
commit d328f2a928
1 changed files with 2 additions and 2 deletions
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selfdrive/controls/lib/latcontrol_indi.py
+2 -2
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@@ -40,7 +40,6 @@ class LatControlINDI():
self._G = (CP.lateralTuning.indi.actuatorEffectivenessBP, CP.lateralTuning.indi.actuatorEffectivenessV)
self._outer_loop_gain = (CP.lateralTuning.indi.outerLoopGainBP, CP.lateralTuning.indi.outerLoopGainV)
self._inner_loop_gain = (CP.lateralTuning.indi.innerLoopGainBP, CP.lateralTuning.indi.innerLoopGainV)
self.alpha = 1. - DT_CTRL / (self.RC + DT_CTRL)
self.sat_count_rate = 1.0 * DT_CTRL
self.sat_limit = CP.steerLimitTimer
@@ -104,7 +103,8 @@ class LatControlINDI():
rate_des = math.radians(self.rate_steers_des)
# Expected actuator value
self.delayed_output = self.delayed_output * self.alpha + self.output_steer * (1. - self.alpha)
alpha = 1. - DT_CTRL / (self.RC + DT_CTRL)
self.delayed_output = self.delayed_output * alpha + self.output_steer * (1. - alpha)
# Compute acceleration error
rate_sp = self.outer_loop_gain * (steers_des - self.x[0]) + rate_des