Delete selfdrive/controls/lib/disturbance_controller.py

selfdrive/controls/lib/disturbance_controller.py

@@ -1,66 +0,0 @@
-import numpy as np
-import math
-
-from collections import deque
-from openpilot.common.pid import PIDController
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.controls.lib.drive_helpers import MAX_CURVATURE
-
-ALPHA_MIN = 0.004
-ALPHA_MAX = 0.4
-
-class DisturbanceController:
-  def __init__(self, CP):
-    self.lowpass_filtered_prev = 0.0
-    self.alpha_prev = ALPHA_MAX
-    self.pid = PIDController(1, 0, k_f=1, pos_limit=MAX_CURVATURE, neg_limit=-MAX_CURVATURE)
-    self.length_des_curv_hist = int(round(CP.steerActuatorDelay / DT_CTRL)) + 1
-    self.desired_curvature_hist = deque([0.0], maxlen=self.length_des_curv_hist)
-
-  def reset(self):
-    self.lowpass_filtered_prev = 0.0
-    self.alpha_prev = ALPHA_MAX
-    self.pid.reset()
-    self.desired_curvature_hist.clear()
-    self.desired_curvature_hist.append(0.0)
-
-  def compute_dynamic_alpha(self, desired_curvature_hist, alpha_prev, dt=DT_CTRL, A=0.02, n=2.0, beta=3.0, k=2.0):
-    if len(desired_curvature_hist) < self.length_des_curv_hist:
-      return ALPHA_MAX
-    d_desired = abs(desired_curvature_hist[0] - desired_curvature_hist[1]) / dt
-    alpha_reactive = d_desired**n / (k * A) if A > 0 else 0.0
-    alpha = np.clip(alpha_prev * np.exp(-beta * dt) + alpha_reactive, ALPHA_MIN, ALPHA_MAX)
-    return alpha
-
-  def lowpass_filter(self, current_value, lowpass_filtered_prev, alpha):
-    alpha = min(alpha, ALPHA_MAX)
-    if alpha >= ALPHA_MAX * 0.9:
-      reset_factor = (alpha - ALPHA_MIN) / (ALPHA_MAX - ALPHA_MIN)
-      lowpass_filtered = (1 - reset_factor) * lowpass_filtered_prev + reset_factor * current_value
-    else:
-      lowpass_filtered = (1 - alpha) * lowpass_filtered_prev + alpha * current_value
-    return lowpass_filtered
-
-  def highpass_filter(self, current_value, lowpass_value):
-    return current_value - lowpass_value
-
-  def compensate(self, CS, VM, params, calibrated_pose, desired_curvature):
-    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.)
-    
-    alpha = self.compute_dynamic_alpha(self.desired_curvature_hist, self.alpha_prev)
-    reaction = self.lowpass_filter(actual_curvature, self.lowpass_filtered_prev, alpha)
-    disturbance = self.highpass_filter(actual_curvature, reaction)
-
-    error = -disturbance
-    output_curvature = self.pid.update(error, feedforward=desired_curvature, speed=CS.vEgo)
-
-    self.desired_curvature_hist.append(desired_curvature)
-    self.alpha_prev = alpha
-    self.lowpass_filtered_prev = reaction
-    
-    return float(output_curvature)