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Dragonpilot Team
4d7a40310f
version: dragonpilot v0.8.16 beta for EON/C2 date: 2022-08-11T09:38:43 dp-dev(priv2) master commit: c6cd233f23f60e7a6055d42850bc593c0e69082e
26 lines
1.1 KiB
Python
26 lines
1.1 KiB
Python
import math
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from cereal import log
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from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
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STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees
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class LatControlAngle(LatControl):
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def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
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angle_log = log.ControlsState.LateralAngleState.new_message()
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if CS.vEgo < MIN_STEER_SPEED or not active:
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angle_log.active = False
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angle_steers_des = float(CS.steeringAngleDeg)
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else:
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angle_log.active = True
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angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
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angle_steers_des += params.angleOffsetDeg
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angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
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angle_log.saturated = self._check_saturation(angle_control_saturated, CS, steer_limited)
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angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
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angle_log.steeringAngleDesiredDeg = angle_steers_des
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return 0, float(angle_steers_des), angle_log
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