mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-09-30 19:33:42 +08:00
Code Issues Packages Projects Releases Wiki Activity

Revert torque control (#24565)

Browse Source 
* torque reversal start

* Fix carmodel tests

* Update ref

* update ref

* Elif is better than if
This commit is contained in:
HaraldSchafer
2022-05-17 19:00:57 -07:00
committed by GitHub
parent 0fc4b4df98
commit 9f8b03753d
9 changed files with 111 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/controlsd.py
+5
View File
@@ -23,6 +23,7 @@ from selfdrive.controls.lib.latcontrol_pid import LatControlPID
from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
from selfdrive.controls.lib.latcontrol_angle import LatControlAngle
from selfdrive.controls.lib.latcontrol_torque import LatControlTorque
from selfdrive.controls.lib.latcontrol_lqr import LatControlLQR
from selfdrive.controls.lib.events import Events, ET
from selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
from selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -145,6 +146,8 @@ class Controls:
self.LaC = LatControlPID(self.CP, self.CI)
elif self.CP.lateralTuning.which() == 'indi':
self.LaC = LatControlINDI(self.CP, self.CI)
elif self.CP.lateralTuning.which() == 'lqr':
self.LaC = LatControlLQR(self.CP, self.CI)
elif self.CP.lateralTuning.which() == 'torque':
self.LaC = LatControlTorque(self.CP, self.CI)
@@ -747,6 +750,8 @@ class Controls:
controlsState.lateralControlState.pidState = lac_log
elif lat_tuning == 'torque':
controlsState.lateralControlState.torqueState = lac_log
elif lat_tuning == 'lqr':
controlsState.lateralControlState.lqrState = lac_log
elif lat_tuning == 'indi':
controlsState.lateralControlState.indiState = lac_log