LatcontrolTorque: move jerk calculation and filtering outside if else (#37011)

selfdrive/controls/lib/latcontrol_torque.py

@@ -64,30 +64,30 @@ class LatControlTorque(LatControl):
     future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
     self.lat_accel_request_buffer.append(future_desired_lateral_accel)
 
+    roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
+    curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
+    lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
+
+    delay_frames = int(np.clip(lat_delay / self.dt + 1, 1, self.lat_accel_request_buffer_len))
+    expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
+    setpoint = expected_lateral_accel
+    error = setpoint - measurement
+
+    lookahead_idx = int(np.clip(-delay_frames + self.lookahead_frames, -self.lat_accel_request_buffer_len+1, -2))
+    raw_lateral_jerk = (self.lat_accel_request_buffer[lookahead_idx+1] - self.lat_accel_request_buffer[lookahead_idx-1]) / (2 * self.dt)
+    desired_lateral_jerk = self.jerk_filter.update(raw_lateral_jerk)
+    gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
+    ff = gravity_adjusted_future_lateral_accel
+    # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
+    ff -= self.torque_params.latAccelOffset
+    ff += get_friction(error + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
+
     if not active:
       output_torque = 0.0
       pid_log.active = False
     else:
-      roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
-      curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
-      lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
-
-      delay_frames = int(np.clip(lat_delay / self.dt + 1, 1, self.lat_accel_request_buffer_len))
-      expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
-      setpoint = expected_lateral_accel
-      error = setpoint - measurement
-
-      lookahead_idx = int(np.clip(-delay_frames + self.lookahead_frames, -self.lat_accel_request_buffer_len+1, -2))
-      raw_lateral_jerk = (self.lat_accel_request_buffer[lookahead_idx+1] - self.lat_accel_request_buffer[lookahead_idx-1]) / (2 * self.dt)
-      desired_lateral_jerk = self.jerk_filter.update(raw_lateral_jerk)
-      gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
-
       # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
       pid_log.error = float(error)
-      ff = gravity_adjusted_future_lateral_accel
-      # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
-      ff -= self.torque_params.latAccelOffset
-      ff += get_friction(error + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
 
       freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
       output_lataccel = self.pid.update(pid_log.error, speed=CS.vEgo, feedforward=ff, freeze_integrator=freeze_integrator)

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-cdd8ecaf03b0581d6a4df7659b916f3d22167a23
+77951c4ccd0916b87c8dfda9faa33cd2d5d2cc11