From a33e25ef52f536dfb8d68136252eb8b96ade0c49 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Thu, 8 Dec 2022 21:47:59 -0800
Subject: [PATCH] add curvature steer control type (#381)

* 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>
---
 car.capnp |  4 +++-
 log.capnp | 13 +++++++++++++
 2 files changed, 16 insertions(+), 1 deletion(-)

diff --git a/car.capnp b/car.capnp
index b6bceb8..9a4e683 100644
--- a/car.capnp
+++ b/car.capnp
@@ -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 {
diff --git a/log.capnp b/log.capnp
index 3511055..f54da14 100644
--- a/log.capnp
+++ b/log.capnp
@@ -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;