mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-07-09 15:02:05 +08:00
Code Issues Packages Projects Releases Wiki Activity

Ford: use curvature without roll compensation (#27110)

Browse Source 
* Ford: use actuators.curvature

* ford is mathless
This commit is contained in:
Shane Smiskol
2023-01-26 22:29:01 -08:00
committed by GitHub
parent 1d9b4c2248
commit 701b7d89b6
1 changed files with 2 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/ford/carcontroller.py
+2 -5
View File
@@ -1,4 +1,3 @@
import math
from cereal import car
from common.numpy_fast import clip
from opendbc.can.packer import CANPacker
@@ -46,10 +45,8 @@ class CarController:
# send steering commands at 20Hz
if (self.frame % CarControllerParams.STEER_STEP) == 0:
if CC.latActive:
# apply limits to curvature
apply_curvature = -self.VM.calc_curvature(math.radians(actuators.steeringAngleDeg), CS.out.vEgo, 0.0)
apply_curvature = apply_std_steer_angle_limits(apply_curvature, self.apply_curvature_last, CS.out.vEgo, CarControllerParams)
# clip to signal range
# apply limits to curvature and clip to signal range
apply_curvature = apply_std_steer_angle_limits(actuators.curvature, self.apply_curvature_last, CS.out.vEgo, CarControllerParams)
apply_curvature = clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX)
else:
apply_curvature = 0.