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Update disturbance_controller.py

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infiniteCable
2025-04-06 19:12:46 +02:00
committed by GitHub
parent d50ac6dafb
commit 1c23787d6e
1 changed files with 3 additions and 1 deletions
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selfdrive/controls/lib/disturbance_controller.py
+3 -1
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@@ -41,8 +41,10 @@ class DisturbanceController:
return current_value - lowpass_value
def compensate(self, CS, VM, params, calibrated_pose, desired_curvature):
if calibrated_pose is None:
return desired_curvature
actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, 0.)
assert calibrated_pose is not None
actual_curvature_3dof = -VM.calc_curvature_3dof(calibrated_pose.acceleration.y, calibrated_pose.acceleration.x, calibrated_pose.angular_velocity.yaw,
CS.vEgo, math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), 0.)
actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_3dof])