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Update latcontrol_curvature.py

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infiniteCable
2025-07-24 17:45:39 +02:00
committed by GitHub
parent 6ca15e2baf
commit a68e5ff6d8
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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@@ -3,7 +3,7 @@ import numpy as np
from cereal import log
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
from openpilot.common.pid import PIDController
from openpilot.common.pid_mu import MultiplicativeUnwindPID
CURVATURE_SATURATION_THRESHOLD = 5e-4 # rad/m
@@ -12,9 +12,9 @@ class LatControlCurvature(LatControl):
def __init__(self, CP, CP_SP, CI):
super().__init__(CP, CP_SP, CI)
self.useCarCurvature = CP.lateralTuning.pid.carCurvatureCorrection
self.pid = PIDController((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)
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()
@@ -40,7 +40,7 @@ class LatControlCurvature(LatControl):
freeze_integrator = steer_limited_by_controls 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)
freeze_integrator=freeze_integrator, override=CS.steeringPressed)
output_curvature = pid_curvature + (CS.curvature - actual_curvature_vm_no_roll) if self.useCarCurvature else pid_curvature