Create latcontrol_curvature_pid_backup.py leave this here

2026-08-05 16:26:10 +08:00 · 2025-09-04 17:58:51 +02:00
parent cd4325d23d
commit 42dfca1a5c
1 changed files with 56 additions and 0 deletions
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+#import math
+#import numpy as np
+#
+#from cereal import log
+#from openpilot.selfdrive.controls.lib.latcontrol import LatControl
+#from openpilot.common.pid_mu import MultiplicativeUnwindPID
+#
+#CURVATURE_SATURATION_THRESHOLD = 5e-4 # rad/m
+#
+#
+#class LatControlCurvature(LatControl):
+#  def __init__(self, CP, CP_SP, CI):
+#    super().__init__(CP, CP_SP, CI)
+#    self.useCarSteerCurvature = CP.useCarSteerCurvature
+#    self.pid = MultiplicativeUnwindPID((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
+#                                       (CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
+#                                       k_f=CP.lateralTuning.pid.kf, pos_limit=self.curvature_max, neg_limit=-self.curvature_max)
+#
+#  def reset(self):
+#    super().reset()
+#    self.pid.reset()
+#  
+#  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
+#    pid_log = log.ControlsState.LateralCurvatureState.new_message()
+#    if not active:
+#      output_curvature = 0.0
+#      pid_log.active = False
+#      self.pid.reset()
+#    else:
+#      roll_compensation = -VM.roll_compensation(params.roll, CS.vEgo)
+#      actual_curvature_vm_no_roll = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, 0.)
+#      actual_curvature_vm = actual_curvature_vm_no_roll - roll_compensation
+#      assert calibrated_pose is not None
+#      actual_curvature_pose = calibrated_pose.angular_velocity.yaw / CS.vEgo
+#      actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose])
+#
+#      desired_curvature_corr = desired_curvature - roll_compensation
+#      
+#      pid_log.error = float(desired_curvature - actual_curvature)
+#      freeze_integrator = steer_limited_by_safety or CS.vEgo < 5 or CS.steeringPressed
+#      
+#      pid_curvature = self.pid.update(pid_log.error, feedforward=desired_curvature_corr, speed=CS.vEgo,
+#                                      freeze_integrator=freeze_integrator, override=CS.steeringPressed)
+#
+#      output_curvature = pid_curvature + (CS.steeringCurvature - actual_curvature_vm_no_roll) if self.useCarSteerCurvature else pid_curvature
+#
+#      pid_log.active = True
+#      pid_log.p = float(self.pid.p)
+#      pid_log.i = float(self.pid.i)
+#      pid_log.f = float(self.pid.f)
+#      pid_log.output = float(output_curvature)
+#      pid_log.actualCurvature = float(actual_curvature)
+#      pid_log.desiredCurvature = float(desired_curvature)
+#      pid_log.saturated = bool(self._check_saturation(steer_limited_by_safety, CS, False, curvature_limited))
+#
+#    return 0.0, 0.0, output_curvature, pid_log