Delete selfdrive/controls/lib/disturbance_controller.py

selfdrive/controls/lib/disturbance_controller.py

@@ -1,68 +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 = 0.0
-    self.alpha_prev = ALPHA_MIN
-    self.desired_curvature_prev = 0.0
-    self.pid = PIDController(1, 0, k_f=0, pos_limit=MAX_CURVATURE, neg_limit=-MAX_CURVATURE)
-    self.reaction_hist = deque([0.0], maxlen=int(round(CP.steerActuatorDelay / DT_CTRL))+1)
-
-  def reset(self):
-    self.lowpass_filtered = 0.0
-    self.alpha_prev = ALPHA_MIN
-    self.desired_curvature_prev = 0.0
-    self.pid.reset()
-    self.reaction_hist.clear()
-    self.reaction_hist.append(0.0)
-
-  def compute_dynamic_alpha(self, desired_curvature, dt=DT_CTRL, A=0.02, n=2.0, beta=3.0, k=2.0):
-    d_desired = abs(desired_curvature - self.desired_curvature_prev) / dt
-    alpha_reactive = d_desired**n / (k * A) if A > 0 else 0.0
-    alpha = np.clip(self.alpha_prev * np.exp(-beta * dt) + alpha_reactive, ALPHA_MIN, ALPHA_MAX)
-    self.alpha_prev = alpha
-    self.desired_curvature_prev = desired_curvature
-    return alpha
-
-  def lowpass_filter(self, current_value, alpha):
-    alpha = min(alpha, ALPHA_MAX)
-    if alpha >= ALPHA_MAX * 0.9:
-      reset_factor = (alpha - ALPHA_MIN) / (ALPHA_MAX - ALPHA_MIN)
-      self.lowpass_filtered = (1 - reset_factor) * self.lowpass_filtered + reset_factor * current_value
-    else:
-      self.lowpass_filtered = (1 - alpha) * self.lowpass_filtered + alpha * current_value
-    return self.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:
-      return desired_curvature
-
-    steering_angle_without_offset = math.radians(CS.steeringAngleDeg - params.angleOffsetDeg)
-    actual_curvature_vm = -VM.calc_curvature(steering_angle_without_offset, CS.vEgo, 0.)
-    actual_curvature_3dof = -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 = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_3dof])
-                      
-    alpha = self.compute_dynamic_alpha(desired_curvature)
-    reaction = self.lowpass_filter(actual_curvature, alpha)
-    self.reaction_hist.append(reaction)
-    disturbance = self.highpass_filter(actual_curvature, reaction)
-
-    reaction_delayed = self.reaction_hist[0]
-    error = desired_curvature - (reaction_delayed + disturbance)
-
-    output_curvature = self.pid.update(error, feedforward=desired_curvature, speed=CS.vEgo)
-    
-    return float(output_curvature)