mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-03 12:32:06 +08:00
Shane Smiskol
ee03d13529
* format card * standalone process * no class member CS, there's no point also can be confusing; what else could be using this? * rename CoS * Update selfdrive/controls/controlsd.py * never works first time :D * canRcvTimeout is bool * hack * add cpu * see what testing closet comes up with * first * some clean up * support passable CI, fix test models * fix startup alert * process replay changes * test_fuzzy * gate carOutput valid on carControl valid * we should publish after we update carOutput * controlsd was using actuatorsOutput from 2 frames ago for torque, not the most up to date * check all checks for carControl in case controlsd dies * log more timestamps * more generic latency logger; needs some clean up latency_logger.py was difficult to understand and modify * card polls on can and carControl to get latest carControl possible * temp try to send earlier * add log * remove latencylogger * no mpld3! * old loop * detect first event * normal send * revert "card polls on can and carControl to get latest carControl possible" how it was is best * sheesh! update should be first * first timestamp * temp comment ( timestamp is slow :( ) * more final ordering, and make polling on/off test repeatable * Received can * new plot timestamps * clean up * no poll * add controllers (draft) * Revert "add controllers (draft)" This reverts commit e2c3f01b2fadcff74347bac90c8a5cc1ef4e27b3. * fix that * conventions * just use CS * consider controlsd state machine in card: not fully done * hmm it's just becoming controlsd * rm debugging * Revert "hmm it's just becoming controlsd" This reverts commit 534a357ee95bec4ed070667186af55d59421bbc7. * Revert "just use CS" This reverts commit 9fa7406f30c86200f20457f7b9ff95e731201bf9. * add vCruise * migrate car state * Revert "migrate car state" This reverts commit 4ae86ca163c6920070f410f608f7644ab632850b. * Revert "add vCruise" This reverts commit af247a8da41c3626ada4231b98042da1a1ae4633. * simple state machine in card (doesn't work as is) * Revert "simple state machine in card (doesn't work as is)" This reverts commit b4af8a9b0a2e17fdfc89d344c64678ef51305c24. * poll carState without conflate * bump * remove state transition * fix * update refs * ignore cumLagMs and don't ignore valid * fix controls mismatch; controlsd used to set alt exp * controlsd_config_callback not needed for card * revert ref temp * update refs * no poll * not builder! * test fix * need to migrate initialized * CC will be a reader * more as_reader! * fix None * init after publish like before - no real difference * controlsd clean up * remove redundant check and check passive for init * stash * flip * migrate missing carOutput for controlsd * Update ref_commit * bump cereal * comment * no class params * no class * Revert "no class" This reverts commit 5499b83c2dcb5462070626f8523e3aec6f4c209d. * add todo * regen and update refs * fix * update refs * and fix that * should be controlsstate * remove controlsState migration CoS.initialized isn't needed yet * fix * flip! * bump * fix that * update refs * fix * if canValid goes false, controlsd would still send * bump * rm diff * need to be very careful with initializing * update refs old-commit-hash: 71f5c441fe32184d94a9f26565a36c661e2ccf28
85 lines
3.1 KiB
Python
85 lines
3.1 KiB
Python
import numpy as np
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from openpilot.common.realtime import DT_CTRL
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from opendbc.can.packer import CANPacker
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from openpilot.selfdrive.car.body import bodycan
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from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
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from openpilot.selfdrive.car.interfaces import CarControllerBase
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from openpilot.selfdrive.controls.lib.pid import PIDController
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MAX_TORQUE = 500
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MAX_TORQUE_RATE = 50
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MAX_ANGLE_ERROR = np.radians(7)
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MAX_POS_INTEGRATOR = 0.2 # meters
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MAX_TURN_INTEGRATOR = 0.1 # meters
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class CarController(CarControllerBase):
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def __init__(self, dbc_name, CP, VM):
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self.frame = 0
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self.packer = CANPacker(dbc_name)
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# PIDs
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self.turn_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
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self.wheeled_speed_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
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self.torque_r_filtered = 0.
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self.torque_l_filtered = 0.
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@staticmethod
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def deadband_filter(torque, deadband):
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if torque > 0:
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torque += deadband
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else:
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torque -= deadband
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return torque
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def update(self, CC, CS, now_nanos):
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torque_l = 0
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torque_r = 0
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llk_valid = len(CC.orientationNED) > 1 and len(CC.angularVelocity) > 1
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if CC.enabled and llk_valid:
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# Read these from the joystick
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# TODO: this isn't acceleration, okay?
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speed_desired = CC.actuators.accel / 5.
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speed_diff_desired = -CC.actuators.steer / 2.
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speed_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl + CS.out.wheelSpeeds.fr) / 2.
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speed_error = speed_desired - speed_measured
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torque = self.wheeled_speed_pid.update(speed_error, freeze_integrator=False)
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speed_diff_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl - CS.out.wheelSpeeds.fr)
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turn_error = speed_diff_measured - speed_diff_desired
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freeze_integrator = ((turn_error < 0 and self.turn_pid.error_integral <= -MAX_TURN_INTEGRATOR) or
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(turn_error > 0 and self.turn_pid.error_integral >= MAX_TURN_INTEGRATOR))
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torque_diff = self.turn_pid.update(turn_error, freeze_integrator=freeze_integrator)
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# Combine 2 PIDs outputs
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torque_r = torque + torque_diff
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torque_l = torque - torque_diff
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# Torque rate limits
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self.torque_r_filtered = np.clip(self.deadband_filter(torque_r, 10),
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self.torque_r_filtered - MAX_TORQUE_RATE,
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self.torque_r_filtered + MAX_TORQUE_RATE)
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self.torque_l_filtered = np.clip(self.deadband_filter(torque_l, 10),
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self.torque_l_filtered - MAX_TORQUE_RATE,
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self.torque_l_filtered + MAX_TORQUE_RATE)
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torque_r = int(np.clip(self.torque_r_filtered, -MAX_TORQUE, MAX_TORQUE))
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torque_l = int(np.clip(self.torque_l_filtered, -MAX_TORQUE, MAX_TORQUE))
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can_sends = []
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can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r))
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new_actuators = CC.actuators.as_builder()
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new_actuators.accel = torque_l
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new_actuators.steer = torque_r
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new_actuators.steerOutputCan = torque_r
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self.frame += 1
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return new_actuators, can_sends
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