Revert "Deadband lateral jerk before friction compensation"

This reverts commit 9e68801db0.

common/params_keys.h

@@ -283,7 +283,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     // Torque lateral control custom params
     {"CustomTorqueParams", {PERSISTENT | BACKUP , BOOL}},
     {"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
-    {"FrictionJerkDeadzoneEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
     {"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
     {"TorqueControlTune", {PERSISTENT | BACKUP, FLOAT, "0.0"}},

selfdrive/controls/lib/latcontrol_torque.py

@@ -84,12 +84,11 @@ class LatControlTorque(LatControl):
     lookahead_idx = int(np.clip(-delay_frames + self.lookahead_frames, -self.lat_accel_request_buffer_len+1, -2))
     raw_lateral_jerk = (self.lat_accel_request_buffer[lookahead_idx+1] - self.lat_accel_request_buffer[lookahead_idx-1]) / (2 * self.dt)
     desired_lateral_jerk = self.jerk_filter.update(raw_lateral_jerk)
-    friction_jerk = self.extension.get_friction_jerk(desired_lateral_jerk)
     gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
     ff = gravity_adjusted_future_lateral_accel
     # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
     ff -= self.torque_params.latAccelOffset
-    ff += get_friction(error + JERK_GAIN * friction_jerk, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
+    ff += get_friction(error + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
 
     if not active:
       output_torque = 0.0

sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_override.py

@@ -5,19 +5,8 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
-import math
-
 from openpilot.common.params import Params
 
-# Planner-replan jitter shows up as small nonzero desired_lateral_jerk even on a straight
-# road with a near-zero lateral accel error. Fed into get_friction() that noise still
-# clears the (much smaller, sensor-deadzone-sized) lateral_accel_deadzone and comes out
-# as a real friction-compensation torque command, i.e. chatter with no steering need
-# behind it. Deadbanding the jerk itself (not the combined error) kills that noise floor
-# while leaving real jerk (an actual curve entry or lane change, an order of magnitude
-# larger) essentially unaffected.
-FRICTION_JERK_DEADZONE = 0.3  # m/s^3
-
 
 class LatControlTorqueExtOverride:
   def __init__(self, CP):
@@ -25,15 +14,8 @@ class LatControlTorqueExtOverride:
     self.params = Params()
     self.enforce_torque_control_toggle = self.params.get_bool("EnforceTorqueControl")  # only during init
     self.torque_override_enabled = self.params.get_bool("TorqueParamsOverrideEnabled")
-    self.friction_jerk_deadzone_enabled = self.params.get_bool("FrictionJerkDeadzoneEnabled")
     self.frame = -1
 
-  def get_friction_jerk(self, desired_lateral_jerk: float) -> float:
-    if not self.friction_jerk_deadzone_enabled:
-      return desired_lateral_jerk
-
-    return math.copysign(max(abs(desired_lateral_jerk) - FRICTION_JERK_DEADZONE, 0.0), desired_lateral_jerk)
-
   def update_override_torque_params(self, torque_params) -> bool:
     if not self.enforce_torque_control_toggle:
       return False

sunnypilot/selfdrive/controls/lib/tests/test_latcontrol_torque_ext_override.py

@@ -1,42 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_override import (
-  FRICTION_JERK_DEADZONE, LatControlTorqueExtOverride,
-)
-
-
-class TestLatControlTorqueExtOverrideFrictionJerkDeadzone:
-
-  def setup_method(self):
-    self.override = LatControlTorqueExtOverride(None)
-
-  def test_disabled_by_default(self):
-    assert self.override.friction_jerk_deadzone_enabled is False
-
-  def test_disabled_is_passthrough(self):
-    self.override.friction_jerk_deadzone_enabled = False
-
-    for jerk in (0.0, 0.05, -0.05, FRICTION_JERK_DEADZONE, -FRICTION_JERK_DEADZONE, 2.0, -2.0):
-      assert self.override.get_friction_jerk(jerk) == jerk
-
-  def test_enabled_kills_jerk_below_deadzone(self):
-    self.override.friction_jerk_deadzone_enabled = True
-
-    for jerk in (0.0, 0.05, -0.05, 0.29, -0.29):
-      assert self.override.get_friction_jerk(jerk) == 0.0
-
-  def test_enabled_boundary_at_deadzone(self):
-    self.override.friction_jerk_deadzone_enabled = True
-
-    assert self.override.get_friction_jerk(FRICTION_JERK_DEADZONE) == 0.0
-    assert self.override.get_friction_jerk(-FRICTION_JERK_DEADZONE) == 0.0
-
-  def test_enabled_shifts_jerk_above_deadzone_preserving_sign(self):
-    self.override.friction_jerk_deadzone_enabled = True
-
-    assert self.override.get_friction_jerk(2.0) == 2.0 - FRICTION_JERK_DEADZONE
-    assert self.override.get_friction_jerk(-2.0) == -(2.0 - FRICTION_JERK_DEADZONE)

sunnypilot/sunnylink/params_metadata.json

@@ -332,10 +332,6 @@
     "title": "Force Power Down",
     "description": ""
   },
-  "FrictionJerkDeadzoneEnabled": {
-    "title": "Reduce Friction Torque Chatter",
-    "description": "Ignores small, short-lived steering jerk from planner noise when computing friction compensation, reducing steering chatter on straight roads. Does not change torque during real turns or lane changes."
-  },
   "GitBranch": {
     "title": "Git Branch",
     "description": ""
@@ -1354,11 +1350,19 @@
     "step": 0.1,
     "unit": "m/s\u00b2"
   },
-  "ToyotaAutoHold": {
+    "ToyotaAutoHold": {
     "title": "Toyota: Auto Brake Hold FOR TSS2 HYBRID CARS",
     "description": ""
   },
-  "ToyotaDriveMode": {
+    "ToyotaEnhancedBsm": {
+    "title": "Toyota: Prius TSS2 BSM and some tssp",
+    "description": ""
+  },
+    "ToyotaTSS2Long": {
+    "title": "Toyota: custom longitudinal for TSS2",
+    "description": ""
+  },
+    "ToyotaDriveMode": {
     "title": "Enable drive mode btn link",
     "description": ""
   },
@@ -1366,18 +1370,10 @@
     "title": "Toyota: Enforce Factory Longitudinal Control",
     "description": "When enabled, sunnypilot will not take over control of gas and brakes. Factory Toyota longitudinal control will be used."
   },
-  "ToyotaEnhancedBsm": {
-    "title": "Toyota: Prius TSS2 BSM and some tssp",
-    "description": ""
-  },
   "ToyotaStopAndGoHack": {
     "title": "Toyota: Stop and Go Hack (Alpha)",
     "description": "sunnypilot will allow some Toyota/Lexus cars to auto resume during stop and go traffic. This feature is only applicable to certain models that are able to use longitudinal control. This is an alpha feature. Use at your own risk."
   },
-  "ToyotaTSS2Long": {
-    "title": "Toyota: custom longitudinal for TSS2",
-    "description": ""
-  },
   "TrainingVersion": {
     "title": "Training Version",
     "description": ""

sunnypilot/sunnylink/settings_ui.json

@@ -310,37 +310,6 @@
                   "equals": false
                 }
               ]
-            },
-            {
-              "key": "FrictionJerkDeadzoneEnabled",
-              "widget": "toggle",
-              "title": "Reduce Friction Torque Chatter",
-              "description": "Ignores small, short-lived steering jerk from planner noise when computing friction compensation, reducing steering chatter on straight roads. Does not change torque during real turns or lane changes.",
-              "visibility": [
-                {
-                  "type": "not",
-                  "condition": {
-                    "type": "capability",
-                    "field": "steer_control_type",
-                    "equals": "angle"
-                  }
-                }
-              ],
-              "enablement": [
-                {
-                  "type": "offroad_only"
-                },
-                {
-                  "type": "capability",
-                  "field": "torque_allowed",
-                  "equals": true
-                },
-                {
-                  "type": "param",
-                  "key": "NeuralNetworkLateralControl",
-                  "equals": false
-                }
-              ]
             }
           ],
           "sub_panels": [

sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml

@@ -118,25 +118,6 @@ sections:
     - type: param
       key: NeuralNetworkLateralControl
       equals: false
-  - key: FrictionJerkDeadzoneEnabled
-    widget: toggle
-    title: Reduce Friction Torque Chatter
-    description: Ignores small, short-lived steering jerk from planner noise when computing friction compensation, reducing
-      steering chatter on straight roads. Does not change torque during real turns or lane changes.
-    visibility:
-    - type: not
-      condition:
-        type: capability
-        field: steer_control_type
-        equals: angle
-    enablement:
-    - $ref: '#/macros/offroad'
-    - type: capability
-      field: torque_allowed
-      equals: true
-    - type: param
-      key: NeuralNetworkLateralControl
-      equals: false
   sub_panels:
   - id: torque_settings
     label: Torque Settings