From 360e252b433c7399db107b60ff6878d10a758244 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 17 Mar 2025 18:51:25 -0400 Subject: [PATCH] rename --- .../{nnlc/nnlc_base.py => latcontrol_torque_ext_base.py} | 4 ++-- sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py | 6 +++--- 2 files changed, 5 insertions(+), 5 deletions(-) rename sunnypilot/selfdrive/controls/lib/{nnlc/nnlc_base.py => latcontrol_torque_ext_base.py} (96%) diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc_base.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py similarity index 96% rename from sunnypilot/selfdrive/controls/lib/nnlc/nnlc_base.py rename to sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py index f93400cdf2..2756c1fdb9 100644 --- a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc_base.py +++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py @@ -35,7 +35,7 @@ def get_lookahead_value(future_vals, current_val): return min_val -class NeuralNetworkLateralControlBase: +class LatControlTorqueExtBase: def __init__(self, lac_torque, CP): self.model_v2 = None self.model_valid = False @@ -60,7 +60,7 @@ class NeuralNetworkLateralControlBase: # Scaling the lateral acceleration "friction response" could be helpful for some. # Increase for a stronger response, decrease for a weaker response. self.lat_jerk_friction_factor = 0.4 - self.lat_accel_friction_factor = 0.7 # in [0, 3], in 0.05 increments. 3 is arbitrary safety limit + self.lat_accel_friction_factor = 0.7 # in [0, 3], in 0.05 increments. 3 is arbitrary safety limit # precompute time differences between ModelConstants.T_IDXS self.t_diffs = np.diff(ModelConstants.T_IDXS) diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py index 5b7bae3508..d6b9a54f08 100644 --- a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py +++ b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py @@ -32,7 +32,7 @@ from openpilot.common.params import Params from openpilot.common.filter_simple import FirstOrderFilter from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.flux_model import FluxModel -from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.nnlc_base import NeuralNetworkLateralControlBase +from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import LatControlTorqueExtBase # At a given roll, if pitch magnitude increases, the @@ -44,9 +44,9 @@ def roll_pitch_adjust(roll, pitch): return roll * math.cos(pitch) -class NeuralNetworkLateralControl(NeuralNetworkLateralControlBase): +class NeuralNetworkLateralControl(LatControlTorqueExtBase): def __init__(self, lac_torque, CP, CP_SP): - NeuralNetworkLateralControlBase.__init__(self, lac_torque, CP) + LatControlTorqueExtBase.__init__(self, lac_torque, CP) self.lac_torque = lac_torque self.params = Params()