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Refactor steering angle logic for smoother control adjustments

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Refactored the calculation and application of the steering angle to improve code clarity and ensure smoother transitions. Removed unused parameter update logic in `latcontrol_angle.py` and enhanced handling of driver overrides in `carcontroller.py`.
This commit is contained in:
DevTekVE
2025-04-03 23:39:06 +02:00
parent 2f836d1148
commit 254076de39
2 changed files with 5 additions and 5 deletions
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opendbc_repo
+1 -1
Submodule opendbc_repo updated: e3196167d6...6f05e7d5a2
selfdrive/controls/lib/latcontrol_angle.py
+4 -4
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@@ -21,10 +21,10 @@ class LatControlAngle(LatControl):
self.smoothing_factor_incr = 0.
def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
self.count += 1
if self.count % 25 == 0 and (smoothingFactorParam := self.params.get("HkgTuningAngleSmoothingFactor")):
self.count = 0
self.smoothing_factor_incr = float(smoothingFactorParam) / 10.0
# self.count += 1
# if self.count % 25 == 0 and (smoothingFactorParam := self.params.get("HkgTuningAngleSmoothingFactor")):
# self.count = 0
# self.smoothing_factor_incr = float(smoothingFactorParam) / 10.0
angle_log = log.ControlsState.LateralAngleState.new_message()