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Merge branch 'master-new' of https://github.com/infiniteCable2/openpilot into master-new

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infiniteCable2
2025-06-07 14:43:31 +02:00
parent 50c3835bf6 252e1b0725
commit fe22ae0f62
1 changed files with 8 additions and 7 deletions
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selfdrive/controls/lib/latcontrol_curvature.py
+8 -7
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@@ -7,8 +7,8 @@ from openpilot.common.pid import PIDController
class LatControlCurvature(LatControl):
def __init__(self, CP, CI):
super().__init__(CP, CI)
def __init__(self, CP, CP_SP, CI):
super().__init__(CP, CP_SP, CI)
self.pid = PIDController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
(CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
k_f=CP.lateralTuning.pid.kf, pos_limit=self.curvature_max, neg_limit=-self.curvature_max)
@@ -20,16 +20,17 @@ class LatControlCurvature(LatControl):
pid_log.active = False
else:
actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
roll_compensation = -VM.roll_compensation(params.roll, CS.vEgo)
assert calibrated_pose is not None
actual_curvature_pose = calibrated_pose.angular_velocity.yaw / CS.vEgo
actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose])
pid_log.error = float(desired_curvature - (actual_curvature + roll_compensation))
roll_compensation = -VM.roll_compensation(params.roll, CS.vEgo)
gravity_adjusted_curvature = desired_curvature - roll_compensation
pid_log.error = float(desired_curvature - actual_curvature)
freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
output_curvature = self.pid.update(pid_log.error, feedforward=desired_curvature, speed=CS.vEgo, freeze_integrator=freeze_integrator)
output_curvature = self.pid.update(pid_log.error, feedforward=gravity_adjusted_curvature, speed=CS.vEgo, freeze_integrator=freeze_integrator)
pid_log.active = True
pid_log.p = float(self.pid.p)