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Update disturbance_controller.py

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infiniteCable
2025-04-20 18:41:32 +02:00
committed by GitHub
parent 5d09f4e249
commit 545a6595d6
1 changed files with 5 additions and 4 deletions
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selfdrive/controls/lib/disturbance_controller.py
+5 -4
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@@ -45,14 +45,15 @@ class DisturbanceController:
def highpass_filter(self, current_value, lowpass_value):
return current_value - lowpass_value
def compensate(self, CS, VM, params, calibrated_pose, desired_curvature):
def compensate(self, CS, VM, params, calibrated_pose, desired_curvature, curvature_3dof):
if calibrated_pose is None or CS.vEgo < 0.1:
return desired_curvature
steering_angle_without_offset = math.radians(CS.steeringAngleDeg - params.angleOffsetDeg)
actual_curvature = -VM.calc_curvature_3dof(calibrated_pose.acceleration.y, calibrated_pose.acceleration.x,
calibrated_pose.angular_velocity.yaw, CS.vEgo, steering_angle_without_offset,
0.)
#actual_curvature = -VM.calc_curvature_3dof(calibrated_pose.acceleration.y, calibrated_pose.acceleration.x,
# calibrated_pose.angular_velocity.yaw, CS.vEgo, steering_angle_without_offset,
# 0.)
actual_curvature = curvature_3dof
alpha = self.compute_dynamic_alpha(desired_curvature)
reaction = self.lowpass_filter(actual_curvature, alpha)