mirror of
https://github.com/sunnypilot/sunnypilot.git
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Refactor steering angle limit application for improved safety and model compliance
This commit is contained in:
DevTekVE
+1
-1
Submodule opendbc_repo updated: 48a82750e4...28b4e1579e
@@ -1,98 +1,95 @@
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<?xml version='1.0' encoding='UTF-8'?>
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<root>
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<tabbed_widget parent="main_window" name="Main Window">
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<Tab tab_name="actuator data" containers="1">
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<tabbed_widget name="Main Window" parent="main_window">
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<Tab containers="1" tab_name="actuator data">
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<Container>
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<DockSplitter sizes="0.25;0.25;0.25;0.25" count="4" orientation="-">
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<DockSplitter orientation="-" sizes="0.25;0.25;0.25;0.25" count="4">
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<DockArea name="...">
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<plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
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<range bottom="-1.050000" top="1.050000" right="590.696728" left="429.901019"/>
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<plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
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<range right="558.699945" bottom="-1.050000" top="1.050000" left="6.491930"/>
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<limitY/>
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<curve color="#17becf" name="/carControl/actuators/torque"/>
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<curve name="/carControl/actuators/torque" color="#17becf"/>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
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<range bottom="-385.132391" top="536.899115" right="590.696728" left="429.901019"/>
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<plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
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<range right="558.699945" bottom="-553.384988" top="395.185006" left="6.491930"/>
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<limitY/>
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<curve color="#1f77b4" name="/carControl/actuators/steeringAngleDeg"/>
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<curve name="/carControl/actuators/steeringAngleDeg" color="#1f77b4"/>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
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<range bottom="-0.364800" top="14.956815" right="590.696728" left="429.901019"/>
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<plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
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<range right="558.699945" bottom="-0.444933" top="18.242243" left="6.491930"/>
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<limitY/>
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<curve color="#ff7f0e" name="/carState/vEgoRaw"/>
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<curve name="/carState/vEgoRaw" color="#ff7f0e"/>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
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<range bottom="-0.208517" top="0.149191" right="590.696728" left="429.901019"/>
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<plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
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<range right="558.699945" bottom="-0.119883" top="0.177208" left="6.491930"/>
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<limitY/>
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<curve color="#f14cc1" name="/carControl/actuators/curvature"/>
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<curve name="/carControl/actuators/curvature" color="#f14cc1"/>
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</plot>
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</DockArea>
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</DockSplitter>
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</Container>
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</Tab>
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<Tab tab_name="steering messages (CAN)" containers="1">
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<Tab containers="1" tab_name="steering messages (CAN)">
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<Container>
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<DockSplitter sizes="0.200218;0.200218;0.199129;0.200218;0.200218" count="5" orientation="-">
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<DockSplitter orientation="-" sizes="0.200218;0.200218;0.199129;0.200218;0.200218" count="5">
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<DockArea name="...">
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<plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
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<range bottom="-189.000000" top="189.000000" right="590.696728" left="429.901019"/>
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<plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
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<range right="558.699945" bottom="-0.025000" top="1.025000" left="6.491930"/>
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<limitY/>
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<curve color="#1ac938" name="/can/2/LKAS_ALT/LKAS_ANGLE_CMD"/>
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<curve color="#9467bd" name="/can/128/LKAS_ALT/LKAS_ANGLE_CMD"/>
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<curve color="#ff0e1c" name="/can/192/LKAS_ALT/LKAS_ANGLE_CMD"/>
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<curve name="/can/128/LKAS_ALT/ADAS_ACIAnglTqRedcGainVal" color="#1f77b4"/>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
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<range bottom="-6.200000" top="254.200000" right="590.696728" left="429.901019"/>
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<plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
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<range right="558.699945" bottom="-189.000000" top="189.000000" left="6.491930"/>
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<limitY/>
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<curve color="#f14cc1" name="/can/128/LKAS_ALT/LKAS_ANGLE_MAX_TORQUE"/>
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<curve name="/can/128/LKAS_ALT/ADAS_StrAnglReqVal" color="#d62728"/>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
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<range bottom="-0.025000" top="1.025000" right="590.696728" left="429.901019"/>
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<plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
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<range right="558.699945" bottom="-0.025000" top="1.025000" left="6.491930"/>
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<limitY/>
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<curve color="#d62728" name="/carState/steeringPressed"/>
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<curve name="/carState/steeringPressed" color="#d62728"/>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
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<range bottom="460.325000" top="1874.675000" right="590.696728" left="429.901019"/>
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<plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
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<range right="558.699945" bottom="-4.150000" top="170.150000" left="6.491930"/>
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<limitY/>
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<curve color="#1f77b4" name="/pandaStates/0/safetyTxBlocked"/>
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<curve name="/pandaStates/0/safetyTxBlocked" color="#1f77b4"/>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
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<range bottom="-0.025000" top="1.025000" right="590.696728" left="429.901019"/>
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<plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
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<range right="558.699945" bottom="-0.025000" top="1.025000" left="6.491930"/>
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<limitY/>
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<curve color="#f14cc1" name="/can/1/CCNC_0x161/DAW_ICON"/>
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<curve name="/can/1/CCNC_0x161/DAW_ICON" color="#f14cc1"/>
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</plot>
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</DockArea>
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</DockSplitter>
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</Container>
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</Tab>
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<Tab tab_name="Understanding Torque" containers="1">
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<Tab containers="1" tab_name="Understanding Torque">
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<Container>
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<DockSplitter sizes="0.5;0.5" count="2" orientation="-">
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<DockSplitter orientation="-" sizes="0.5;0.5" count="2">
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<DockArea name="...">
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<plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
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<range bottom="-6.175000" top="253.175000" right="590.696728" left="429.901019"/>
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<plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
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<range right="590.696728" bottom="-6.175000" top="253.175000" left="429.901019"/>
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<limitY/>
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<curve color="#1f77b4" name="/can/1/LFA_ALT/LKAS_ANGLE_MAX_TORQUE"/>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
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<range bottom="-41.182501" top="42.082498" right="590.696728" left="429.901019"/>
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<plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
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<range right="558.699945" bottom="-107.707498" top="64.807501" left="6.491930"/>
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<limitY/>
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<curve color="#1ac938" name="/carState/steeringTorqueEps"/>
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<curve name="/carState/steeringTorqueEps" color="#1ac938"/>
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</plot>
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</DockArea>
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</DockSplitter>
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