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body: fix integrator freezing in turn loop (#25243)

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This commit is contained in:
Adeeb Shihadeh
2022-07-21 21:04:31 -07:00
committed by GitHub
parent 0ca62bf7df
commit 2f808985c0
1 changed files with 2 additions and 2 deletions
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selfdrive/car/body/carcontroller.py
+2 -2
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@@ -61,8 +61,8 @@ class CarController:
speed_diff_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl - CS.out.wheelSpeeds.fr)
turn_error = speed_diff_measured - speed_diff_desired
freeze_integrator = ((turn_error < 0 and self.turn_pid.error_integral <= -MAX_POS_INTEGRATOR) or
(turn_error > 0 and self.turn_pid.error_integral >= MAX_POS_INTEGRATOR))
freeze_integrator = ((turn_error < 0 and self.turn_pid.error_integral <= -MAX_TURN_INTEGRATOR) or
(turn_error > 0 and self.turn_pid.error_integral >= MAX_TURN_INTEGRATOR))
torque_diff = self.turn_pid.update(turn_error, freeze_integrator=freeze_integrator)
# Combine 2 PIDs outputs