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controls: abstract update_output_torque to ExtBase (#1903)

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This commit is contained in:
Jason Wen
2026-08-09 15:19:35 -04:00
committed by GitHub
parent 9e32dee281
commit a0da9bf3b6
2 changed files with 7 additions and 7 deletions
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openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
+7
View File
@@ -132,3 +132,10 @@ class LatControlTorqueExtBase:
self.lat_accel_friction_factor = 1.0
self.lateral_jerk_setpoint = self.lat_jerk_friction_factor * self.lookahead_lateral_jerk
self.lateral_jerk_measurement = self.lat_jerk_friction_factor * self.actual_lateral_jerk
def update_output_torque(self, CS):
freeze_integrator = self._steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
self._output_torque = self._pid.update(self._pid_log.error,
feedforward=self._ff,
speed=CS.vEgo,
freeze_integrator=freeze_integrator)
openpilot/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
-7
View File
@@ -85,13 +85,6 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
self._ff += get_friction_in_torque_space(self._desired_lateral_accel - self._actual_lateral_accel, self._lateral_accel_deadzone,
FRICTION_THRESHOLD, self.torque_params)
def update_output_torque(self, CS):
freeze_integrator = self._steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
self._output_torque = self._pid.update(self._pid_log.error,
feedforward=self._ff,
speed=CS.vEgo,
freeze_integrator=freeze_integrator)
def update_neural_network_feedforward(self, CS, params, calibrated_pose) -> None:
if not self._nnlc_enabled:
return