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Update disturbance_controller.py perf: 3dof only

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infiniteCable
2025-04-17 11:59:57 +02:00
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parent 936acfc17a
commit e683e47c8f
1 changed files with 1 additions and 3 deletions
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selfdrive/controls/lib/disturbance_controller.py
+1 -3
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@@ -50,11 +50,9 @@ class DisturbanceController:
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,
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.)
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)