github-actions[bot]
f9fcc7adab
date: 2026-06-28T09:48:35 master commit: da6313dbe95b3f24bb5d8018b0e5f950f5823ca7
39 lines
1.8 KiB
Python
39 lines
1.8 KiB
Python
"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.nnlc import NeuralNetworkLateralControl
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from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_override import LatControlTorqueExtOverride
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class LatControlTorqueExt(NeuralNetworkLateralControl, LatControlTorqueExtOverride):
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def __init__(self, lac_torque, CP, CP_SP, CI):
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NeuralNetworkLateralControl.__init__(self, lac_torque, CP, CP_SP, CI)
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LatControlTorqueExtOverride.__init__(self, CP)
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def update(self, CS, VM, pid, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
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desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
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desired_curvature, actual_curvature, steer_limited_by_safety, output_torque):
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self._ff = ff
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self._pid = pid
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self._pid_log = pid_log
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self._setpoint = setpoint
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self._measurement = measurement
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self._roll_compensation = roll_compensation
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self._lateral_accel_deadzone = lateral_accel_deadzone
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self._desired_lateral_accel = desired_lateral_accel
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self._actual_lateral_accel = actual_lateral_accel
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self._desired_curvature = desired_curvature
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self._actual_curvature = actual_curvature
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self._gravity_adjusted_lateral_accel = gravity_adjusted_lateral_accel
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self._steer_limited_by_safety = steer_limited_by_safety
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self._output_torque = output_torque
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self.update_calculations(CS, VM, desired_lateral_accel)
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self.update_neural_network_feedforward(CS, params, calibrated_pose)
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return self._pid_log, self._output_torque
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