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direct config

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elkoled
2026-05-30 21:12:02 -07:00
parent 4befe9bba7
commit 66b1ef5d9a
3 changed files with 15 additions and 11 deletions
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4
opendbc/safety/declarations.h
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@@ -133,10 +133,10 @@ typedef struct {
typedef struct {
// curvature cmd limits
const int max_curvature; // rad/m * curvature_to_can
const float max_curvature; // rad/m
const float curvature_to_can; // CAN units per rad/m
const uint32_t frequency; // Hz
const int max_curvature_error; // rad/m * curvature_to_can, max deviation from measured curvature (0 disables)
const float max_curvature_error; // rad/m, max deviation from measured curvature (0 disables)
const float curvature_error_min_speed; // min speed for the curvature error check [m/s]
} CurvatureSteeringLimits;

18
opendbc/safety/lateral.h
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@@ -247,9 +247,13 @@ bool steer_curvature_cmd_checks(int desired_curvature, bool steer_control_enable
const float fudged_speed = SAFETY_MAX((vehicle_speed.min / VEHICLE_SPEED_FACTOR) - 1.0, 1.0);
bool violation = false;
// convert curvature rad/m limits to CAN units
const int max_curvature = (int)((limits.max_curvature * limits.curvature_to_can) + 0.5f);
const int max_curvature_error = (int)((limits.max_curvature_error * limits.curvature_to_can) + 0.5f);
if (controls_allowed && steer_control_enabled) {
// *** absolute curvature cap ***
violation |= safety_max_limit_check(desired_curvature, limits.max_curvature, -limits.max_curvature);
violation |= safety_max_limit_check(desired_curvature, max_curvature, -max_curvature);
// *** ISO lateral jerk limit ***
const float max_curvature_rate_sec = MAX_LATERAL_JERK / (fudged_speed * fudged_speed);
@@ -261,14 +265,14 @@ bool steer_curvature_cmd_checks(int desired_curvature, bool steer_control_enable
violation |= safety_max_limit_check(desired_curvature, highest_desired_curvature, lowest_desired_curvature);
// *** ISO lateral accel limit ***
const float max_curvature = MAX_LATERAL_ACCEL / (fudged_speed * fudged_speed);
const int max_curvature_can = (max_curvature * limits.curvature_to_can) + 1.;
violation |= safety_max_limit_check(desired_curvature, max_curvature_can, -max_curvature_can);
const float iso_max_curvature = MAX_LATERAL_ACCEL / (fudged_speed * fudged_speed);
const int iso_max_curvature_can = (iso_max_curvature * limits.curvature_to_can) + 1.;
violation |= safety_max_limit_check(desired_curvature, iso_max_curvature_can, -iso_max_curvature_can);
// *** curvature error from measured ***
if (limits.max_curvature_error && ((vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR) > limits.curvature_error_min_speed)) {
const int lowest_desired_curvature_error = curvature_meas.min - limits.max_curvature_error - 1;
const int highest_desired_curvature_error = curvature_meas.max + limits.max_curvature_error + 1;
if ((limits.max_curvature_error > 0.f) && ((vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR) > limits.curvature_error_min_speed)) {
const int lowest_desired_curvature_error = curvature_meas.min - max_curvature_error - 1;
const int highest_desired_curvature_error = curvature_meas.max + max_curvature_error + 1;
violation |= safety_max_limit_check(desired_curvature, highest_desired_curvature_error, lowest_desired_curvature_error);
}

4
opendbc/safety/modes/ford.h
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@@ -87,10 +87,10 @@ static bool ford_get_quality_flag_valid(const CANPacket_t *msg) {
#define FORD_CANFD_INACTIVE_CURVATURE_RATE 1024U
static const CurvatureSteeringLimits FORD_STEERING_LIMITS = {
.max_curvature = 1000, // 0.02 rad/m * curvature_to_can
.max_curvature = 0.02f, // rad/m
.curvature_to_can = 50000, // CAN units per rad/m
.frequency = 20, // Hz
.max_curvature_error = 100, // 0.002 rad/m * curvature_to_can
.max_curvature_error = 0.002f, // rad/m
.curvature_error_min_speed = 10.0, // m/s
};