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Disable curvature learner

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dragonpilot
2019-09-28 16:36:39 +10:00
parent 73d6d1537a
commit 1d2ea64938
1 changed files with 7 additions and 7 deletions
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selfdrive/controls/lib/pathplanner.py
+7 -7
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@@ -30,7 +30,7 @@ class PathPlanner(object):
self.setup_mpc(CP.steerRateCost)
self.solution_invalid_cnt = 0
self.path_offset_i = 0.0
self.curvature_offset = CurvatureLearner(debug=False)
#self.curvature_offset = CurvatureLearner(debug=False)
def setup_mpc(self, steer_rate_cost):
self.libmpc = libmpc_py.libmpc
@@ -60,13 +60,13 @@ class PathPlanner(object):
# Run MPC
self.angle_steers_des_prev = self.angle_steers_des_mpc
VM.update_params(sm['liveParameters'].stiffnessFactor, sm['liveParameters'].steerRatio)
# curvature_factor = VM.curvature_factor(v_ego)
if active:
curvfac = self.curvature_offset.update(angle_steers - angle_offset, self.LP.d_poly, v_ego)
else:
curvfac = 0.
curvature_factor = VM.curvature_factor(v_ego)
#if active:
# curvfac = self.curvature_offset.update(angle_steers - angle_offset, self.LP.d_poly, v_ego)
#else:
# curvfac = 0.
curvature_factor = VM.curvature_factor(v_ego) + curvfac
#curvature_factor = VM.curvature_factor(v_ego) + curvfac
# TODO: Check for active, override, and saturation
# if active: