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Update251203 (#233)

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carrot
2025-12-03 10:28:27 +09:00
committed by GitHub
parent d6899edd97
commit c5ebcbcb97
347 changed files with 8678 additions and 13489 deletions
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selfdrive/controls/controlsd.py
+11 -18
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@@ -48,7 +48,7 @@ class Controls:
self.sm = messaging.SubMaster(['liveDelay', 'liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',
'carrotMan', 'lateralPlan', 'radarState', 'liveLocationKalman',
'carrotMan', 'lateralPlan', 'radarState',
'driverMonitoringState', 'onroadEvents', 'driverAssistance'], poll='selfdriveState')
self.pm = messaging.PubMaster(['carControl', 'controlsState'])
@@ -180,7 +180,7 @@ class Controls:
actuators.curvature = float(self.desired_curvature)
steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
self.steer_limited_by_controls, self.desired_curvature,
self.sm['liveLocationKalman'], curvature_limited,
CC, curvature_limited,
model_data=self.sm['modelV2'])
actuators.torque = float(steer)
actuators.steeringAngleDeg = float(steeringAngleDeg)
@@ -237,23 +237,16 @@ class Controls:
# Orientation and angle rates can be useful for carcontroller
# Only calibrated (car) frame is relevant for the carcontroller
#if self.calibrated_pose is not None:
# CC.orientationNED = self.calibrated_pose.orientation.xyz.tolist()
# CC.angularVelocity = self.calibrated_pose.angular_velocity.xyz.tolist()
if self.calibrated_pose is not None:
CC.orientationNED = self.calibrated_pose.orientation.xyz.tolist()
CC.angularVelocity = self.calibrated_pose.angular_velocity.xyz.tolist()
orientation_value = list(self.sm['liveLocationKalman'].calibratedOrientationNED.value)
if len(orientation_value) > 2:
CC.orientationNED = orientation_value
angular_rate_value = list(self.sm['liveLocationKalman'].angularVelocityCalibrated.value)
if len(angular_rate_value) > 2:
CC.angularVelocity = angular_rate_value
acceleration_value = list(self.sm['liveLocationKalman'].accelerationCalibrated.value)
if len(acceleration_value) > 2:
if abs(acceleration_value[0]) > 16.0:
print("Collision detected. disable openpilot, restart")
self.params.put_bool("OpenpilotEnabledToggle", False)
self.params.put_int("SoftRestartTriggered", 1)
#acceleration_value = list(self.sm['liveLocationKalman'].accelerationCalibrated.value)
#if len(acceleration_value) > 2:
# if abs(acceleration_value[0]) > 16.0:
# print("Collision detected. disable openpilot, restart")
# self.params.put_bool("OpenpilotEnabledToggle", False)
# self.params.put_int("SoftRestartTriggered", 1)
CC.cruiseControl.override = CC.enabled and not CC.longActive and self.CP.openpilotLongitudinalControl
CC.cruiseControl.cancel = CS.cruiseState.enabled and (not CC.enabled or not self.CP.pcmCruise)