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adjust latcontorl too

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DevTekVE
2025-06-19 16:21:41 +02:00
parent 4f52c7d702
commit bc25677aa8
2 changed files with 17 additions and 1 deletions
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selfdrive/controls/controlsd.py
+4 -1
View File
@@ -17,6 +17,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
from openpilot.selfdrive.controls.lib.longcontrol import LongControl
from openpilot.selfdrive.controls.lib.latcontrol_angle_torque import LatControlAngleTorque
from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
State = log.SelfdriveState.OpenpilotState
@@ -50,7 +51,9 @@ class Controls:
self.LoC = LongControl(self.CP)
self.VM = VehicleModel(self.CP)
self.LaC: LatControl
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
if self.CP.steerControlType == car.CarParams.SteerControlType.angle and self.CP.lateralTuning.which() == 'torque':
self.LaC = LatControlAngleTorque(self.CP, self.CI)
elif self.CP.steerControlType == car.CarParams.SteerControlType.angle:
self.LaC = LatControlAngle(self.CP, self.CI)
elif self.CP.lateralTuning.which() == 'pid':
self.LaC = LatControlPID(self.CP, self.CI)
selfdrive/controls/lib/latcontrol_angle_torque.py
+13
View File
@@ -0,0 +1,13 @@
from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
class LatControlAngleTorque(LatControlTorque, LatControlAngle):
def __init__(self, CP, CI):
LatControlTorque.__init__(self, CP, CI)
LatControlAngle.__init__(self, CP, CI)
def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
torque, _, _ = LatControlTorque.update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited)
_, angle, angle_log = LatControlAngle.update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited)
return torque, angle, angle_log