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Update latcontrol_curvature.py roll compoensation after PID

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infiniteCable
2025-07-10 18:25:36 +02:00
committed by GitHub
parent eda2ab3892
commit 674398fa5e
1 changed files with 5 additions and 5 deletions
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selfdrive/controls/lib/latcontrol_curvature.py
+5 -5
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@@ -30,14 +30,14 @@ class LatControlCurvature(LatControl):
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])
roll_compensation = -VM.roll_compensation(params.roll, CS.vEgo)
gravity_adjusted_curvature = desired_curvature - roll_compensation
pid_log.error = float(gravity_adjusted_curvature - actual_curvature)
pid_log.error = float(desired_curvature - actual_curvature)
freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
output_curvature = self.pid.update(pid_log.error, feedforward=gravity_adjusted_curvature, speed=CS.vEgo, freeze_integrator=freeze_integrator)
corrected_curvature = self.pid.update(pid_log.error, feedforward=desired_curvature, speed=CS.vEgo, freeze_integrator=freeze_integrator)
roll_compensation = -VM.roll_compensation(params.roll, CS.vEgo)
output_curvature = corrected_curvature - roll_compensation
pid_log.active = True
pid_log.p = float(self.pid.p)