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Update disturbance_controller.py

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infiniteCable
2025-04-19 16:41:00 +02:00
committed by GitHub
parent f01357d025
commit ed174aa82c
1 changed files with 7 additions and 5 deletions
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selfdrive/controls/lib/disturbance_controller.py
+7 -5
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@@ -49,11 +49,13 @@ class DisturbanceController:
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.)
#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.)
actual_curvature = calibrated_pose.acceleration.y / (CS.vEgo ** 2)
alpha = self.compute_dynamic_alpha(desired_curvature)
reaction = self.lowpass_filter(actual_curvature, alpha)
self.reaction_hist.append(reaction)