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firestar5683
79c8945a41
Integrate torque feedback, lane-change smoothing and low-speed Turn Assist through dedicated lateral owners. Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: pharmacomaniac <blittle65@gmail.com>
25 lines
968 B
Python
25 lines
968 B
Python
"""Ordinary ASCM torque selection; factory PID identity stays on PID."""
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import math
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from opendbc.car.structs import CarParams
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from opendbc.car.gm.values import is_ordinary_ascm_profile
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from openpilot.starpilot.lateral.gm_ordinary_policy import GMOrdinaryTorquePolicy
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def supported_cp(cp):
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if not (is_ordinary_ascm_profile(cp, longitudinal=False) or is_ordinary_ascm_profile(cp, longitudinal=True)):
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return False
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if cp.steerControlType != CarParams.SteerControlType.torque or cp.lateralTuning.which() != "torque":
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return False
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tune = cp.lateralTuning.torque
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return (math.isfinite(tune.latAccelFactor) and tune.latAccelFactor > 0 and
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math.isfinite(tune.latAccelOffset) and math.isfinite(tune.friction) and tune.friction >= 0)
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class AscmTorquePolicy(GMOrdinaryTorquePolicy):
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def __init__(self, parent, cp):
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if not supported_cp(cp):
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raise ValueError("Unsupported ordinary ASCM torque profile")
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super().__init__(parent, cp)
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