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Lateral torque-based control with roll on TSS2 corolla and TSSP rav4 (#24260)

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* Initial commit

* Fix bugs

* Need more torque rate

* Cleanup cray cray control

* Write nicely

* Chiiil

* Not relevant for cray cray control

* Do some logging

* Seems like it has more torque than I thought

* Bit more feedforward

* Tune change

* Retune

* Retune

* Little more chill

* Add coroll

* Add corolla

* Give craycray a good name

* Update to proper logging

* D to the PI

* Should be in radians

* Add d

* Start oscillations

* Add D term

* Only change torque rate limits for new tune

* Add d logging

* Should be enough

* Wrong sign in D

* Downtune a little

* Needed to prevent faults

* Add lqr rav4 to tune

* Try derivative again

* Data based retune

* Data based retune

* add friction compensation

* Doesnt need too much P with friction comp

* remove lqr

* Remove kd

* Fix tests

* fix tests

* Too much error

* Get roll induced error under 1cm/deg

* Too much jitter

* Do roll comp

* Add ki

* Final update

* Update refs

* Cleanup latcontrol_torque a little more
This commit is contained in:
HaraldSchafer
2022-04-19 19:34:31 -07:00
committed by GitHub
parent 6877059b45
commit fe0bcdaef6
16 changed files with 120 additions and 123 deletions
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release/files_common
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@@ -238,7 +238,7 @@ selfdrive/controls/lib/events.py
selfdrive/controls/lib/lane_planner.py
selfdrive/controls/lib/latcontrol_angle.py
selfdrive/controls/lib/latcontrol_indi.py
selfdrive/controls/lib/latcontrol_lqr.py
selfdrive/controls/lib/latcontrol_torque.py
selfdrive/controls/lib/latcontrol_pid.py
selfdrive/controls/lib/latcontrol.py
selfdrive/controls/lib/lateral_planner.py