mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-09-30 19:33:42 +08:00
Code Issues Packages Projects Releases Wiki Activity

cleanup torque tuning config (#24951)

Browse Source
This commit is contained in:
Adeeb Shihadeh
2022-06-24 13:01:49 -07:00
committed by GitHub
parent e26db5dc91
commit 062a8bcdbd
5 changed files with 44 additions and 49 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/lib/latcontrol_torque.py
-10
View File
@@ -22,16 +22,6 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
FRICTION_THRESHOLD = 0.2
def set_torque_tune(tune, MAX_LAT_ACCEL=2.5, FRICTION=0.01, steering_angle_deadzone_deg=0.0):
tune.init('torque')
tune.torque.useSteeringAngle = True
tune.torque.kp = 1.0 / MAX_LAT_ACCEL
tune.torque.kf = 1.0 / MAX_LAT_ACCEL
tune.torque.ki = 0.1 / MAX_LAT_ACCEL
tune.torque.friction = FRICTION
tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg
class LatControlTorque(LatControl):
def __init__(self, CP, CI):
super().__init__(CP, CI)