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https://github.com/firestar5683/StarPilot.git
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firestar5683
80 lines
3.2 KiB
Python
80 lines
3.2 KiB
Python
import math
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from openpilot.cereal import log
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from openpilot.selfdrive.controls.lib.latcontrol import LatControl
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from openpilot.common.pid import PIDController
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class LatControlPID(LatControl):
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def __init__(self, CP, CI, dt):
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super().__init__(CP, CI, dt)
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self.pid = PIDController(
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(CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
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(CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
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pos_limit=self.steer_max,
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neg_limit=-self.steer_max,
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)
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self.ff_factor = CP.lateralTuning.pid.kf
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self.get_steer_feedforward = CI.get_steer_feedforward_function()
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self.automatic_pid_previous_setpoint = None
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def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay):
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if getattr(self, 'route_flm_effects', None) is not None:
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self.route_flm_effects.begin_frame(self)
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self.route_flm_observation.begin_frame()
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pid_log = log.ControlsState.LateralPIDState.new_message()
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pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
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pid_log.steeringRateDeg = float(CS.steeringRateDeg)
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angle_steers_des_no_offset = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
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angle_steers_des = angle_steers_des_no_offset + params.angleOffsetDeg
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error = angle_steers_des - CS.steeringAngleDeg
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pid_log.steeringAngleDesiredDeg = angle_steers_des
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pid_log.angleError = error
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if not active:
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output_torque = 0.0
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self.automatic_pid_previous_setpoint = None
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pid_log.active = False
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else:
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# offset does not contribute to resistive torque
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ff = self.ff_factor * self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
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from openpilot.starpilot.flm.pid_stages import begin_frame, error_for_frame
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ff = begin_frame(
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self,
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CS,
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desired_curvature=desired_curvature,
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desired_angle_deg=angle_steers_des_no_offset,
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actual_angle_deg=CS.steeringAngleDeg - params.angleOffsetDeg,
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error_deg=error,
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baseline_ff=ff,
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active=active,
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limited=steer_limited_by_safety or curvature_limited,
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)
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error = error_for_frame(self, CS, error, active=active, limited=steer_limited_by_safety or curvature_limited)
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freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
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output_torque = self.pid.update(error, feedforward=ff, speed=CS.vEgo, freeze_integrator=freeze_integrator)
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from openpilot.starpilot.flm.pid_stages import finish_frame
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output_torque = finish_frame(
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self,
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CS,
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desired_angle_deg=angle_steers_des_no_offset,
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actual_angle_deg=CS.steeringAngleDeg - params.angleOffsetDeg,
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baseline_output=output_torque,
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active=active,
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limited=steer_limited_by_safety or curvature_limited,
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)
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pid_log.active = True
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pid_log.p = float(self.pid.p)
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pid_log.i = float(self.pid.i)
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pid_log.f = float(self.pid.f)
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pid_log.output = float(output_torque)
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pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
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return output_torque, angle_steers_des, pid_log
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