openpilot v0.6 release

selfdrive/locationd/params_learner.h

@@ -0,0 +1,35 @@
+#pragma once
+
+#define DEGREES_TO_RADIANS 0.017453292519943295
+#define RADIANS_TO_DEGREES (1.0 / DEGREES_TO_RADIANS)
+
+#define MAX_ANGLE_OFFSET (10.0 * DEGREES_TO_RADIANS)
+#define MAX_ANGLE_OFFSET_TH  (9.0 * DEGREES_TO_RADIANS)
+#define MIN_STIFFNESS  0.5
+#define MAX_STIFFNESS  2.0
+#define MIN_SR  0.5
+#define MAX_SR  2.0
+#define MIN_SR_TH  0.55
+#define MAX_SR_TH  1.9
+
+class ParamsLearner {
+  double cF0, cR0;
+  double aR, aF;
+  double l, m;
+
+  double min_sr, max_sr, min_sr_th, max_sr_th;
+  double alpha1, alpha2, alpha3, alpha4;
+
+public:
+  double ao;
+  double slow_ao;
+  double x, sR;
+
+  ParamsLearner(cereal::CarParams::Reader car_params,
+                double angle_offset,
+                double stiffness_factor,
+                double steer_ratio,
+                double learning_rate);
+
+  bool update(double psi, double u, double sa);
+};