From 17cba328d6728e55591e32d9b9a52b6ef5d3d5dd Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Wed, 13 Aug 2025 19:51:01 +0200 Subject: [PATCH] refactor: update torque tuning configuration for angle steering - 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 --- opendbc_repo | 2 +- selfdrive/controls/controlsd.py | 5 +---- 2 files changed, 2 insertions(+), 5 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index f1c36ab4d3..c8f2176eff 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit f1c36ab4d3adab8848bbb2be965d7ae450bcd211 +Subproject commit c8f2176eff6f75d7530eb086909c9272084d8ef4 diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index ecd4433605..56a3258a5c 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -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)