mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-01 11:32:21 +08:00
HaraldSchafer
b0b1aff5cc
* dd9a502d-c8e2-4831-b365-804b0ae0739d/600 80041070-d276-4fed-bdb9-0075e5442908/420 * no elementwise op * 9dabf0fe-2e60-44bf-8d3a-d20a74aca072/600 ae746590-0bb5-4a16-80db-15f02d314f03/300 c4663a12-b499-4c9b-90dd-b169e3948cb1/60 * explicit slice * some copies are useful * 1456d261-d232-4654-8885-4d9fde883894/440 c06eba55-1931-4e00-9d63-acad00161be0/700 af2eb6ba-1935-4318-aaf8-868db81a4932/425 * 154f663e-d3e9-4020-ad49-0e640588ebbe/399 badb5e69-504f-4544-a99e-ba75ed204b74/800 08330327-7663-4874-af7a-dcbd2c994ba7/800 * set steer rate cost to 1.0 * smaller temporal size * Update model reg * update model ref again * This did upload somehow * Update steer rate cost Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu> old-commit-hash: 9283040d847b120fdf7759d5bd12000863e12f73
55 lines
1.6 KiB
Python
55 lines
1.6 KiB
Python
#!/usr/bin/env python3
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import math
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from cereal import car
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from common.realtime import DT_CTRL
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from selfdrive.car import scale_rot_inertia, scale_tire_stiffness, get_safety_config
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from selfdrive.car.interfaces import CarInterfaceBase
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from selfdrive.car.body.values import SPEED_FROM_RPM
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def get_params(candidate, fingerprint=None, car_fw=None, disable_radar=False):
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
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ret.notCar = True
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ret.carName = "body"
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]
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ret.minSteerSpeed = -math.inf
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ret.maxLateralAccel = math.inf # TODO: set to a reasonable value
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ret.steerRatio = 0.5
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ret.steerLimitTimer = 1.0
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ret.steerActuatorDelay = 0.
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ret.mass = 9
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ret.wheelbase = 0.406
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ret.wheelSpeedFactor = SPEED_FROM_RPM
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ret.centerToFront = ret.wheelbase * 0.44
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ret.radarOffCan = True
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ret.openpilotLongitudinalControl = True
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ret.steerControlType = car.CarParams.SteerControlType.angle
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ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
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ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
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return ret
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def _update(self, c):
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ret = self.CS.update(self.cp)
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# wait for everything to init first
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if self.frame > int(5. / DT_CTRL):
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# body always wants to enable
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ret.init('events', 1)
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ret.events[0].name = car.CarEvent.EventName.pcmEnable
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ret.events[0].enable = True
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self.frame += 1
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return ret
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def apply(self, c):
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return self.CC.update(c, self.CS)
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