mirror of
https://github.com/infiniteCable2/openpilot.git
synced 2026-08-03 08:41:41 +08:00
Tim Wilson
bcdb546638
* NNLC: decreased low-speed factor * np.float to float * format * add tests for sanity check --------- Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com> Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
32 lines
1.3 KiB
Python
32 lines
1.3 KiB
Python
"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.nnlc import NeuralNetworkLateralControl
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class LatControlTorqueExt(NeuralNetworkLateralControl):
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def __init__(self, lac_torque, CP, CP_SP):
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super().__init__(lac_torque, CP, CP_SP)
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def update(self, CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
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desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
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desired_curvature, actual_curvature):
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self._ff = ff
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self._pid_log = pid_log
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self._setpoint = setpoint
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self._measurement = measurement
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self._lateral_accel_deadzone = lateral_accel_deadzone
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self._desired_lateral_accel = desired_lateral_accel
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self._actual_lateral_accel = actual_lateral_accel
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self._desired_curvature = desired_curvature
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self._actual_curvature = actual_curvature
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self.update_calculations(CS, VM, desired_lateral_accel)
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self.update_neural_network_feedforward(CS, params, calibrated_pose)
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return self._ff, self._pid_log
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