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Add desired curvature to controlsState (#24510)

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* Add desired_curvature to controlsState

* clean up

* bump

* bump

* update refs from GitHub!

Co-authored-by: Jason Shuler <jshuler@gmail.com>
old-commit-hash: 6518ecca8ff75475c6f79aac1af660c1ccc74da9
This commit is contained in:
Shane Smiskol
2022-05-12 16:59:52 -07:00
committed by GitHub
parent b458fa0b76
commit f1f447d092
2 changed files with 11 additions and 7 deletions
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selfdrive/controls/controlsd.py
+10 -6
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@@ -167,6 +167,8 @@ class Controls:
self.logged_comm_issue = None
self.button_timers = {ButtonEvent.Type.decelCruise: 0, ButtonEvent.Type.accelCruise: 0}
self.last_actuators = car.CarControl.Actuators.new_message()
self.desired_curvature = 0.0
self.desired_curvature_rate = 0.0
# TODO: no longer necessary, aside from process replay
self.sm['liveParameters'].valid = True
@@ -571,13 +573,13 @@ class Controls:
actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan)
# Steering PID loop and lateral MPC
desired_curvature, desired_curvature_rate = get_lag_adjusted_curvature(self.CP, CS.vEgo,
lat_plan.psis,
lat_plan.curvatures,
lat_plan.curvatureRates)
self.desired_curvature, self.desired_curvature_rate = get_lag_adjusted_curvature(self.CP, CS.vEgo,
lat_plan.psis,
lat_plan.curvatures,
lat_plan.curvatureRates)
actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, params,
self.last_actuators, desired_curvature,
desired_curvature_rate, self.sm['liveLocationKalman'])
self.last_actuators, self.desired_curvature,
self.desired_curvature_rate, self.sm['liveLocationKalman'])
else:
lac_log = log.ControlsState.LateralDebugState.new_message()
if self.sm.rcv_frame['testJoystick'] > 0:
@@ -721,6 +723,8 @@ class Controls:
controlsState.enabled = self.enabled
controlsState.active = self.active
controlsState.curvature = curvature
controlsState.desiredCurvature = self.desired_curvature
controlsState.desiredCurvatureRate = self.desired_curvature_rate
controlsState.state = self.state
controlsState.engageable = not self.events.any(ET.NO_ENTRY)
controlsState.longControlState = self.LoC.long_control_state
selfdrive/test/process_replay/ref_commit
+1 -1
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@@ -1 +1 @@
10b766fa845934f0258c52cdf2103d0e1a9496c9
16a3e2f9ef2bf013bc71bed6085a5296eb276f85