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controlsd: reset axes in joystick mode if message is old (#30409)

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Reset joystick if it wasnt received after 0.2 sec
This commit is contained in:
Kacper Rączy
2023-11-07 15:48:13 -08:00
committed by GitHub
parent 0f6b16d1e0
commit c419376bbd
1 changed files with 9 additions and 2 deletions
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selfdrive/controls/controlsd.py
+9 -2
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@@ -619,11 +619,18 @@ class Controls:
else:
lac_log = log.ControlsState.LateralDebugState.new_message()
if self.sm.rcv_frame['testJoystick'] > 0:
# reset joystick if it hasn't been received in a while
should_reset_joystick = (self.sm.frame - self.sm.rcv_frame['testJoystick'])*DT_CTRL > 0.2
if not should_reset_joystick:
joystick_axes = self.sm['testJoystick'].axes
else:
joystick_axes = [0.0, 0.0]
if CC.longActive:
actuators.accel = 4.0*clip(self.sm['testJoystick'].axes[0], -1, 1)
actuators.accel = 4.0*clip(joystick_axes[0], -1, 1)
if CC.latActive:
steer = clip(self.sm['testJoystick'].axes[1], -1, 1)
steer = clip(joystick_axes[1], -1, 1)
# max angle is 45 for angle-based cars, max curvature is 0.02
actuators.steer, actuators.steeringAngleDeg, actuators.curvature = steer, steer * 45., steer * -0.02