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refactor: update torque tuning configuration for angle steering

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- Adjusted torque tuning configuration to avoid reliance on torque controller for Hyundai angle steering.
- Simplified control logic by removing unnecessary checks for torque control type.
refactor: clean up code formatting and improve test structure for torque reduction gain
This commit is contained in:
DevTekVE
2025-08-13 19:51:01 +02:00
parent 86093765d8
commit 17cba328d6
2 changed files with 2 additions and 5 deletions
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opendbc_repo
+1 -1
Submodule opendbc_repo updated: f1c36ab4d3...c8f2176eff
selfdrive/controls/controlsd.py
+1 -4
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@@ -17,7 +17,6 @@ from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
from openpilot.selfdrive.controls.lib.latcontrol_angle_torque import LatControlAngleTorque
from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
from openpilot.selfdrive.controls.lib.longcontrol import LongControl
from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
@@ -62,9 +61,7 @@ class Controls(ControlsExt, ModelStateBase):
self.LoC = LongControl(self.CP)
self.VM = VehicleModel(self.CP)
self.LaC: LatControl
if self.CP.steerControlType == car.CarParams.SteerControlType.angle and self.CP.lateralTuning.which() == 'torque':
self.LaC = LatControlAngleTorque(self.CP, self.CP_SP, self.CI)
elif self.CP.steerControlType == car.CarParams.SteerControlType.angle:
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
self.LaC = LatControlAngle(self.CP, self.CP_SP, self.CI)
elif self.CP.lateralTuning.which() == 'pid':
self.LaC = LatControlPID(self.CP, self.CP_SP, self.CI)