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add curvature steer control type (#381)

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* add curvature steer control type

* add new line

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* remove d gain

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
This commit is contained in:
Cameron Clough
2022-12-08 21:47:59 -08:00
committed by GitHub
parent 8825337204
commit a33e25ef52
2 changed files with 16 additions and 1 deletions
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4
car.capnp
View File

@@ -336,6 +336,8 @@ struct CarControl {
steer @2: Float32;
steeringAngleDeg @3: Float32;
curvature @7: Float32;
speed @6: Float32; # m/s
accel @4: Float32; # m/s^2
longControlState @5: LongControlState;
@@ -346,7 +348,6 @@ struct CarControl {
stopping @2;
starting @3;
}
}
struct CruiseControl {
@@ -586,6 +587,7 @@ struct CarParams {
enum SteerControlType {
torque @0;
angle @1;
curvature @2;
}
enum TransmissionType {

13
log.capnp
View File

@@ -658,6 +658,7 @@ struct ControlsState @0x97ff69c53601abf1 {
angleState @58 :LateralAngleState;
debugState @59 :LateralDebugState;
torqueState @60 :LateralTorqueState;
curvatureState @65 :LateralCurvatureState;
}
enum OpenpilotState @0xdbe58b96d2d1ac61 {
@@ -742,6 +743,18 @@ struct ControlsState @0x97ff69c53601abf1 {
steeringAngleDesiredDeg @4 :Float32;
}
struct LateralCurvatureState {
active @0 :Bool;
actualCurvature @1 :Float32;
desiredCurvature @2 :Float32;
error @3 :Float32;
p @4 :Float32;
i @5 :Float32;
f @6 :Float32;
output @7 :Float32;
saturated @8 :Bool;
}
struct LateralDebugState {
active @0 :Bool;
steeringAngleDeg @1 :Float32;