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Update controlsd.py

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infiniteCable2
2025-09-26 21:27:55 +02:00
committed by GitHub
parent 8bea3dc0e8
commit 8a8937f23d
1 changed files with 3 additions and 0 deletions
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selfdrive/controls/controlsd.py
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@@ -66,6 +66,7 @@ class Controls(ControlsExt, ModelStateBase):
self.enable_smooth_steer = self.params.get_bool("EnableSmoothSteer")
self.smooth_steer = PT2Filter(46.0, 1.0, DT_CTRL)
self.force_rhd_for_bsm = self.params.get_bool("ForceRHDForBSM")
self.force_steer_angle_offset = float(self.params.get("AngleOffsetDegree"))
self.pose_calibrator = PoseCalibrator()
self.calibrated_pose: Pose | None = None
@@ -97,6 +98,7 @@ class Controls(ControlsExt, ModelStateBase):
self.enable_speed_limit_control = self.params.get_bool("EnableSpeedLimitControl")
self.enable_speed_limit_predicative = self.params.get_bool("EnableSpeedLimitPredicative")
self.force_rhd_for_bsm = self.params.get_bool("ForceRHDForBSM")
self.force_steer_angle_offset = float(self.params.get("AngleOffsetDegree"))
def state_control(self):
CS = self.sm['carState']
@@ -192,6 +194,7 @@ class Controls(ControlsExt, ModelStateBase):
CC.curvatureControllerActive = self.enable_curvature_controller # for car controller curvature correction activation
CC.steerLimited = self.steer_limited_by_safety
CC.forceRHDForBSM = self.force_rhd_for_bsm
CC.forceSteerAngleOffset = self.force_steer_angle_offset
# Orientation and angle rates can be useful for carcontroller
# Only calibrated (car) frame is relevant for the carcontroller