mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
5deb059c54
Process drive evidence and fit bounded steering profiles off the controls loop.
682 lines
94 KiB
JSON
682 lines
94 KiB
JSON
{
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"sourceControllerSha256": "3561d5ac43a72f9b68bc9e44042b8f5cbdca406dec940e7648c64607862a60f7",
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"fields": ["output", "desiredLateralAccel", "desiredLateralJerk", "p", "i", "f", "directionalFilter"],
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"cases": {
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"2023_default": {
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"after": {
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[-0.9199999685889073, 8.223466873168945, 1.2346673011779785, 4.689445495605469, -0.027905520051717758, 6.311017990112305, 0.775708001655932],
|
|
[0.22799154825718387, 8.197281837463379, 0.9728226065635681, 5.45698881149292, 0.0039269146509468555, -6.295364856719971, 0.780446833468498],
|
|
[0.23419523367937423, 8.172933578491211, 0.7293363809585571, 5.441702842712402, 0.03567017987370491, -6.334527492523193, 0.7850700840173425],
|
|
[0.24001124821910183, 8.15029239654541, 0.5029214024543762, 5.427489280700684, 0.06733053922653198, -6.373260974884033, 0.7895805723576782],
|
|
[0.24563307844267657, 8.12923812866211, 0.2923808693885803, 5.414271831512451, 0.09891378879547119, -6.412202835083008, 0.7939810487872736],
|
|
[0.2514091635182312, 8.109660148620605, 0.09660171717405319, 5.401981353759766, 0.1304253488779068, -6.452564239501953, 0.7982741965234642],
|
|
[0.26319184231767545, 8.09145450592041, -0.08545099198818207, 5.390552520751953, 0.16187024116516113, -6.51570463180542, 0.8020599373232822],
|
|
[0.265450510692521, 8.074525833129883, -0.2547396421432495, 5.379924774169922, 0.19325312972068787, -6.544726848602295, 0.8054052405018639],
|
|
[0.26603509872581854, 8.058784484863281, -0.41215911507606506, 5.37004280090332, 0.2245783805847168, -6.568309783935547, 0.808214631238123],
|
|
[0.2648741592145022, 8.044145584106445, -0.5585416555404663, 5.36085319519043, 0.25585001707077026, -6.586142539978027, 0.8103390489042367],
|
|
[0.26166994194463644, 8.030533790588379, -0.694661021232605, 5.3523077964782715, 0.2870718240737915, -6.5970916748046875, 0.8116433931864653],
|
|
[0.9199999685889073, -8.164595603942871, -0.6459569931030273, -4.814634799957275, 0.2870718240737915, -7.096859455108643, 0.8135545394151179],
|
|
[0.9199999685889073, -8.160066604614258, -0.6006677150726318, -4.81179141998291, 0.2870718240737915, -7.112162113189697, 0.8154190723211203],
|
|
[-0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0],
|
|
[-0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0],
|
|
[-0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0],
|
|
[0.38513324930148474, -0.0759519413113594, 0.05048057436943054, -1.7808427810668945, -0.00020776498422492296, -0.34127020835876465, 0.9991124139302132],
|
|
[0.40075537473288914, -0.0712578147649765, 0.09742186218500137, -1.6257919073104858, -0.00039744071546010673, -0.33461055159568787, 0.9982771386678583],
|
|
[0.4201164532492807, -0.06689280271530151, 0.14107200503349304, -1.483040452003479, -0.0005704620853066444, -0.32935744524002075, 0.9974910563680077],
|
|
[0.3902653702713881, -0.06283382326364517, 0.18166175484657288, -1.3503772020339966, -0.0007280061254277825, -0.3258514404296875, 0.9967511103297959],
|
|
[0.3556846194505165, -0.05905943363904953, 0.21940568089485168, -1.2258175611495972, -0.0008710181573405862, -0.32368361949920654, 0.996054354716816],
|
|
[0.3229036446280457, -0.05554967001080513, 0.2545033097267151, -1.1077765226364136, -0.0010002587223425508, -0.3215988874435425, 0.9953979847183112],
|
|
[0.29161282059042204, -0.05228598415851593, 0.2871401607990265, -0.995150089263916, -0.001116359606385231, -0.31956741213798523, 0.9947793526160259],
|
|
[-0.43281167838121426, 0.01770082116127014, 0.2670082151889801, 1.7472336292266846, -0.001116359606385231, -0.29091861844062805, 0.9947870032699171],
|
|
[-0.40825407552453624, 0.015828775241971016, 0.24828776717185974, 1.658023476600647, -0.0009229235001839697, -0.29179736971855164, 0.9947971654884007],
|
|
[-0.38586022378762674, 0.014087983407080173, 0.23087982833385468, 1.5766654014587402, -0.0007389792008325458, -0.29259806871414185, 0.9948095529007845]
|
|
]
|
|
}
|
|
},
|
|
"corrections": {
|
|
"2746116c4f1040ff28312cd481ed59a43ace3fc1": "Unwind freezes the integrator when steering magnitude decreases in either direction."
|
|
}
|
|
}
|