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Update disturbance_controller.py

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infiniteCable2
2025-04-06 19:05:09 +02:00
committed by GitHub
parent 5f2eef4a6a
commit d50ac6dafb
1 changed files with 9 additions and 3 deletions
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selfdrive/controls/lib/disturbance_controller.py
+9 -3
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@@ -40,12 +40,18 @@ class DisturbanceController:
def highpass_filter(self, current_value, lowpass_value):
return current_value - lowpass_value
def compensate(self, CS, desired_curvature, actual_curvature):
def compensate(self, CS, VM, params, calibrated_pose, desired_curvature):
actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, 0.)
assert calibrated_pose is not None
actual_curvature_3dof = -VM.calc_curvature_3dof(calibrated_pose.acceleration.y, calibrated_pose.acceleration.x, calibrated_pose.angular_velocity.yaw,
CS.vEgo, math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), 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)
disturbance = self.highpass_filter(actual_curvature, reaction)
error = disturbance
error = desired_curvature - disturbance
output_curvature = self.pid.update(error, feedforward=desired_curvature, speed=CS.vEgo)
return output_curvature
return float(output_curvature)