mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-10-01 06:03:43 +08:00
Code Issues Packages Projects Releases Wiki Activity

rename

Browse Source
This commit is contained in:
Jason Wen
2025-03-17 23:57:01 -04:00
parent 9b49d3da64
commit 871d7e29e8
2 changed files with 4 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
+2 -2
View File
@@ -23,7 +23,7 @@ class LatControlTorqueExt(NeuralNetworkLateralControl):
self._actual_lateral_accel = actual_lateral_accel
self.update_calculations(CS, VM, desired_lateral_accel)
self.update_feed_forward(CS, params, calibrated_pose)
self.update_stock_lateral_jerk(CS, roll_compensation, gravity_adjusted_lateral_accel)
self.update_neural_network_feedforward(CS, params, calibrated_pose)
self.update_custom_lateral_accel(CS, roll_compensation, gravity_adjusted_lateral_accel)
return self._ff, self._pid_log
sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
+2 -2
View File
@@ -59,7 +59,7 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
self.error_deque = deque(maxlen=history_check_frames[0])
self.past_future_len = len(self.past_times) + len(self.nn_future_times)
def update_feed_forward(self, CS, params, calibrated_pose):
def update_neural_network_feedforward(self, CS, params, calibrated_pose):
if not self.enabled or not self.model_valid:
return
@@ -110,7 +110,7 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
self._lateral_accel_deadzone, friction_compensation=True,
gravity_adjusted=False)
def update_stock_lateral_jerk(self, CS, roll_compensation, gravity_adjusted_lateral_accel):
def update_custom_lateral_accel(self, CS, roll_compensation, gravity_adjusted_lateral_accel):
if (self.enabled and self.model_valid) or not self.use_lateral_jerk:
return