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Planner outputs curvature (#123)

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* deprecated lateralPlan.steeringAngle

* rename LiveMpc curvature

* more deprecated

* add angle control

* deprecate

* Revert "deprecate"

This reverts commit 330f96208b.
This commit is contained in:
Willem Melching
2021-03-12 01:38:46 +01:00
committed by GitHub
parent 0a479189a6
commit e2bd959e24
1 changed files with 15 additions and 4 deletions
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19
log.capnp
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@@ -521,6 +521,7 @@ struct ControlsState @0x97ff69c53601abf1 {
indiState @52 :LateralINDIState;
pidState @53 :LateralPIDState;
lqrState @55 :LateralLQRState;
angleState @58 :LateralAngleState;
}
enum OpenpilotState @0xdbe58b96d2d1ac61 {
@@ -585,6 +586,13 @@ struct ControlsState @0x97ff69c53601abf1 {
saturated @5 :Bool;
}
struct LateralAngleState {
active @0 :Bool;
steeringAngleDeg @1 :Float32;
output @2 :Float32;
saturated @3 :Bool;
}
# deprecated
vEgoDEPRECATED @0 :Float32;
vEgoRawDEPRECATED @32 :Float32;
@@ -770,14 +778,14 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
dPathPoints @20 :List(Float32);
dProb @21 :Float32;
steeringAngleDeg @8 :Float32; # deg
steeringRateDeg @13 :Float32; # deg/s
mpcSolutionValid @9 :Bool;
angleOffsetDeg @11 :Float32;
desire @17 :Desire;
laneChangeState @18 :LaneChangeState;
laneChangeDirection @19 :LaneChangeDirection;
curvature @22 :Float32; # rad
curvatureRate @23 :Float32; # rad/s
enum Desire {
none @0;
turnLeft @1;
@@ -812,6 +820,9 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
posenetValidDEPRECATED @16 :Bool;
sensorValidDEPRECATED @14 :Bool;
paramsValidDEPRECATED @10 :Bool;
steeringAngleDegDEPRECATED @8 :Float32; # deg
steeringRateDegDEPRECATED @13 :Float32; # deg/s
angleOffsetDegDEPRECATED @11 :Float32;
}
struct LiveLocationKalman {
@@ -1102,7 +1113,7 @@ struct LiveMpcData {
x @0 :List(Float32);
y @1 :List(Float32);
psi @2 :List(Float32);
delta @3 :List(Float32);
curvature @3 :List(Float32);
qpIterations @4 :UInt32;
calculationTime @5 :UInt64;
cost @6 :Float64;