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Small cleanup (#275)

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* mass unit conversions

* flat/explicit conditions

* fix typos

* remove hardcode

* Update README.md

* Update carcontroller.py
This commit is contained in:
dekerr
2018-06-28 15:33:54 -04:00
committed by rbiasini
parent 16132b3aaa
commit 6cdc2a8bc7
11 changed files with 18 additions and 20 deletions
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selfdrive/can/parser.py
+1 -1
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@@ -25,7 +25,7 @@ class CANParser(object):
self.msg_name_to_addres[name] = address
self.address_to_msg_name[address] = name
# Convert message names into adresses
# Convert message names into addresses
for i in range(len(signals)):
s = signals[i]
if not isinstance(s[1], numbers.Number):
selfdrive/can/process_dbc.py
+1 -1
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@@ -49,7 +49,7 @@ for address, msg_name, msg_size, sigs in msgs:
sys.exit("COUNTER starts at wrong bit %s" % msg_name)
# Fail on duplicate messgae names
# Fail on duplicate message names
c = Counter([msg_name for address, msg_name, msg_size, sigs in msgs])
for name, count in c.items():
if count > 1:
selfdrive/car/ford/carstate.py
+1 -1
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@@ -80,7 +80,7 @@ class CarState(object):
self.v_wheel_fr = cp.vl["WheelSpeed_CG1"]['WhlRl_W_Meas'] * WHEEL_RADIUS
self.v_wheel_rl = cp.vl["WheelSpeed_CG1"]['WhlFr_W_Meas'] * WHEEL_RADIUS
self.v_wheel_rr = cp.vl["WheelSpeed_CG1"]['WhlFl_W_Meas'] * WHEEL_RADIUS
self.v_wheel = (self.v_wheel_fl + self.v_wheel_fr + self.v_wheel_rl + self.v_wheel_rr) / 4.
self.v_wheel = float(np.mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr]))
# Kalman filter
if abs(self.v_wheel - self.v_ego) > 2.0: # Prevent large accelerations when car starts at non zero speed
selfdrive/car/ford/interface.py
+2 -2
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@@ -60,7 +60,7 @@ class CarInterface(object):
# FIXME: hardcoding honda civic 2016 touring params so they can be used to
# scale unknown params for other cars
mass_civic = 2923./2.205 + std_cargo
mass_civic = 2923. * CV.LB_TO_KG + std_cargo
wheelbase_civic = 2.70
centerToFront_civic = wheelbase_civic * 0.4
centerToRear_civic = wheelbase_civic - centerToFront_civic
@@ -71,7 +71,7 @@ class CarInterface(object):
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
ret.wheelbase = 2.85
ret.steerRatio = 14.8
ret.mass = 3045./2.205 + std_cargo
ret.mass = 3045. * CV.LB_TO_KG + std_cargo
ret.steerKpV, ret.steerKiV = [[0.01], [0.005]] # TODO: tune this
ret.steerKf = 1. / MAX_ANGLE # MAX Steer angle to normalize FF
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
selfdrive/car/gm/carstate.py
+1 -2
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@@ -74,8 +74,7 @@ class CarState(object):
self.v_wheel_fr = pt_cp.vl["EBCMWheelSpdFront"]['FRWheelSpd'] * CV.KPH_TO_MS
self.v_wheel_rl = pt_cp.vl["EBCMWheelSpdRear"]['RLWheelSpd'] * CV.KPH_TO_MS
self.v_wheel_rr = pt_cp.vl["EBCMWheelSpdRear"]['RRWheelSpd'] * CV.KPH_TO_MS
speed_estimate = (self.v_wheel_fl + self.v_wheel_fr +
self.v_wheel_rl + self.v_wheel_rr) / 4.0
speed_estimate = float(np.mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr]))
self.v_ego_raw = speed_estimate
v_ego_x = self.v_ego_kf.update(speed_estimate)
selfdrive/car/gm/interface.py
+2 -2
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@@ -92,7 +92,7 @@ class CarInterface(object):
# engage speed is decided by pcm
ret.minEnableSpeed = -1
# kg of standard extra cargo to count for drive, gas, etc...
ret.mass = 4016/2.205 + std_cargo
ret.mass = 4016. * CV.LB_TO_KG + std_cargo
ret.safetyModel = car.CarParams.SafetyModels.cadillac
ret.wheelbase = 3.11
ret.steerRatio = 14.6 # it's 16.3 without rear active steering
@@ -102,7 +102,7 @@ class CarInterface(object):
# hardcoding honda civic 2016 touring params so they can be used to
# scale unknown params for other cars
mass_civic = 2923./2.205 + std_cargo
mass_civic = 2923. * CV.LB_TO_KG + std_cargo
wheelbase_civic = 2.70
centerToFront_civic = wheelbase_civic * 0.4
centerToRear_civic = wheelbase_civic - centerToFront_civic
selfdrive/car/honda/carcontroller.py
+1 -2
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@@ -13,7 +13,7 @@ def actuator_hystereses(brake, braking, brake_steady, v_ego, car_fingerprint):
brake_hyst_off = 0.005 # to deactivate brakes below this value
brake_hyst_gap = 0.01 # don't change brake command for small ocilalitons within this value
#*** histeresys logic to avoid brake blinking. go above 0.1 to trigger
#*** histeresis logic to avoid brake blinking. go above 0.1 to trigger
if (brake < brake_hyst_on and not braking) or brake < brake_hyst_off:
brake = 0.
braking = brake > 0.
@@ -90,7 +90,6 @@ class CarController(object):
else:
hud_lanes = 0
# TODO: factor this out better
if enabled:
if hud_show_car:
hud_car = 2
selfdrive/car/honda/carstate.py
+2 -2
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@@ -219,7 +219,7 @@ class CarState(object):
cp.vl["DOORS_STATUS"]['DOOR_OPEN_RL'], cp.vl["DOORS_STATUS"]['DOOR_OPEN_RR']])
self.seatbelt = not cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LAMP'] and cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LATCHED']
# 2 = temporary 3= TBD 4 = temporary, hit a bump 5 (permanent) 6 = temporary 7 (permanent)
# 2 = temporary; 3 = TBD; 4 = temporary, hit a bump; 5 = (permanent); 6 = temporary; 7 = (permanent)
# TODO: Use values from DBC to parse this field
self.steer_error = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 2, 3, 4, 6]
self.steer_not_allowed = cp.vl["STEER_STATUS"]['STEER_STATUS'] != 0
@@ -232,7 +232,7 @@ class CarState(object):
self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS
self.v_wheel_rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS
self.v_wheel_rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS
self.v_wheel = (self.v_wheel_fl + self.v_wheel_fr + self.v_wheel_rl + self.v_wheel_rr) / 4.
self.v_wheel = float(np.mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr]))
# blend in transmission speed at low speed, since it has more low speed accuracy
self.v_weight = interp(self.v_wheel, v_weight_bp, v_weight_v)
selfdrive/car/toyota/carstate.py
+1 -1
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@@ -128,7 +128,7 @@ class CarState(object):
self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS
self.v_wheel_rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS
self.v_wheel_rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS
self.v_wheel = (self.v_wheel_fl + self.v_wheel_fr + self.v_wheel_rl + self.v_wheel_rr) / 4.
self.v_wheel = float(np.mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr]))
# Kalman filter
if abs(self.v_wheel - self.v_ego) > 2.0: # Prevent large accelerations when car starts at non zero speed
selfdrive/controls/lib/pid.py
+1 -1
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@@ -13,7 +13,7 @@ def apply_deadzone(error, deadzone):
class PIController(object):
def __init__(self, k_p, k_i, k_f=1., pos_limit=None, neg_limit=None, rate=100, sat_limit=0.8, convert=None):
self._k_p = k_p # proportional gain
self._k_i = k_i # integrale gain
self._k_i = k_i # integral gain
self.k_f = k_f # feedforward gain
self.pos_limit = pos_limit