mirror of
https://github.com/infiniteCable2/openpilot.git
synced 2026-09-12 03:03:41 +08:00
DevTekVE
e15974345b
Convert safe_desired_curvature to float before returning. This ensures the returned value is explicitly a float, avoiding an issue when serializing it on capnp as it does not recognize numpy.float Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
28 lines
1.3 KiB
Python
28 lines
1.3 KiB
Python
from numpy import clip, interp
|
|
from openpilot.common.realtime import DT_MDL
|
|
from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED, MAX_LATERAL_JERK
|
|
from openpilot.sunnypilot.modeld.constants import ModelConstants
|
|
|
|
|
|
def get_lag_adjusted_curvature(steer_delay, v_ego, psis, curvatures):
|
|
if len(psis) != CONTROL_N:
|
|
psis = [0.0]*CONTROL_N
|
|
curvatures = [0.0]*CONTROL_N
|
|
v_ego = max(MIN_SPEED, v_ego)
|
|
|
|
# MPC can plan to turn the wheel and turn back before t_delay. This means
|
|
# in high delay cases some corrections never even get commanded. So just use
|
|
# psi to calculate a simple linearization of desired curvature
|
|
current_curvature_desired = curvatures[0]
|
|
psi = interp(steer_delay, ModelConstants.T_IDXS[:CONTROL_N], psis)
|
|
average_curvature_desired = psi / (v_ego * steer_delay)
|
|
desired_curvature = 2 * average_curvature_desired - current_curvature_desired
|
|
|
|
# This is the "desired rate of the setpoint" not an actual desired rate
|
|
max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
|
|
safe_desired_curvature = clip(desired_curvature,
|
|
current_curvature_desired - max_curvature_rate * DT_MDL,
|
|
current_curvature_desired + max_curvature_rate * DT_MDL)
|
|
|
|
return float(safe_desired_curvature)
|