d398f9951e
# Conflicts: # .github/workflows/auto_pr_review.yaml # .github/workflows/repo-maintenance.yaml # README.md # SConstruct # docs/CARS.md # opendbc_repo # panda # selfdrive/car/card.py # selfdrive/controls/controlsd.py # selfdrive/selfdrived/selfdrived.py # selfdrive/test/process_replay/migration.py # selfdrive/ui/translations/app_fr.po Platform List: sync with latest Sync: `commaai/panda:master` → `sunnypilot/panda:master`
38 lines
1.7 KiB
Python
38 lines
1.7 KiB
Python
import math
|
|
|
|
from cereal import log
|
|
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
|
|
|
|
# TODO This is speed dependent
|
|
STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees
|
|
|
|
|
|
class LatControlAngle(LatControl):
|
|
def __init__(self, CP, CP_SP, CI, dt):
|
|
super().__init__(CP, CP_SP, CI, dt)
|
|
self.sat_check_min_speed = 5.
|
|
self.use_steer_limited_by_safety = CP.brand in ("tesla", "hyundai")
|
|
|
|
def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited, lat_delay):
|
|
angle_log = log.ControlsState.LateralAngleState.new_message()
|
|
|
|
if not active:
|
|
angle_log.active = False
|
|
angle_steers_des = float(CS.steeringAngleDeg)
|
|
else:
|
|
angle_log.active = True
|
|
angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
|
|
angle_steers_des += params.angleOffsetDeg
|
|
|
|
if self.use_steer_limited_by_safety:
|
|
# these cars' carcontrollers calculate max lateral accel and jerk, so we can rely on carOutput for saturation
|
|
angle_control_saturated = steer_limited_by_safety
|
|
else:
|
|
# for cars which use a method of limiting torque such as a torque signal (Nissan and Toyota)
|
|
# or relying on EPS (Ford Q3), carOutput does not capture maxing out torque # TODO: this can be improved
|
|
angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
|
|
angle_log.saturated = bool(self._check_saturation(angle_control_saturated, CS, False, curvature_limited))
|
|
angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
|
|
angle_log.steeringAngleDesiredDeg = angle_steers_des
|
|
return 0, float(angle_steers_des), angle_log
|