mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-09 17:53:45 +08:00
James Vecellio-Grant
65c512acc0
* Model panel * Get this outta here and use sunnylink instead * Remove space * 'not' because we want gas gating to use e2e/mpc blend * Add toggles to models_panel.cc * "keep enabled for stock behavior" * Add this here * Cloudlog result * change cloudlog to debug, and add latsmooth to steer actuator delay. Need to edit json. Will do locally so when this is merged its a simple ready to go push. * Cleanup * Update longitudinal_planner.py * Remove gasgating for now.. may need to be placed in model --------- Co-authored-by: DevTekVE <devtekve@gmail.com>
27 lines
1005 B
Python
27 lines
1005 B
Python
"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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from openpilot.common.params import Params
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from openpilot.common.swaglog import cloudlog
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class ModeldLagd:
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def __init__(self):
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self.params = Params()
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def lagd_main(self, CP, sm, model):
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if self.params.get_bool("LagdToggle"):
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lateral_delay = sm["liveDelay"].lateralDelay
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lat_smooth = model.LAT_SMOOTH_SECONDS
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result = lateral_delay + lat_smooth
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cloudlog.debug(f"LAGD USING LIVE DELAY: {lateral_delay:.3f} + {lat_smooth:.3f} = {result:.3f}")
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return result
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steer_actuator_delay = CP.steerActuatorDelay
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lat_smooth = model.LAT_SMOOTH_SECONDS
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result = (steer_actuator_delay + 0.2) + lat_smooth
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cloudlog.debug(f"LAGD USING STEER ACTUATOR: {steer_actuator_delay:.3f} + 0.2 + {lat_smooth:.3f} = {result:.3f}")
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return result
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