- Adjusted torque tuning configuration to avoid reliance on torque controller for Hyundai angle steering.
- Simplified control logic by removing unnecessary checks for torque control type.
refactor: clean up code formatting and improve test structure for torque reduction gain
* wrap the params
* just 1 class and use a single param for now
* refactor
* fix
* cache itself
* no longer
* rename
* type hint
* in helpers instead
* lint
* all
* init as 0 to pass ci
* init as 0 to pass ci
* return_default
* fix init
* add LAT_SMOOTH_SECONDS directly in modeld, temp remove dynamic desc, red difffffffff
* refactor: move lateral methods from init to lateral.py (#2594)
* Extracting lateral methods to lateral.py
* cleaning
* more cleaning
* more cleaning
* Making sure it remains where it should
* Leave rate_limit where it belongs
* Moving things to `car/controls/`
* Moving rate limit to get a taste of the changes
* clean
* copy verbatim
* clean up
* more
* now we can format
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* No need to change order of import
* refactor: consolidate ACCELERATION_DUE_TO_GRAVITY import path
* bump opendbc
* update refs
* don't import from opendbc
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* refactor: move lateral methods from init to lateral.py (#2594)
* Extracting lateral methods to lateral.py
* cleaning
* more cleaning
* more cleaning
* Making sure it remains where it should
* Leave rate_limit where it belongs
* Moving things to `car/controls/`
* Moving rate limit to get a taste of the changes
* clean
* copy verbatim
* clean up
* more
* now we can format
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* No need to change order of import
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* Localizer is too laggy for control
* typo
* typo
* fix test
* fix imports
* Revert "fix imports"
This reverts commit 5074f8050170f974b451e00d9fdc752f09a47d57.
* fix improt
* import
* gen 11 only api limit exceeded maybe not
* Try this for ModelDataV2.Action
* mpc mode
* Fix This
* Revert "Try this for ModelDataV2.Action"
This reverts commit e7db17980b.
* fix logic flaw
* Address comments for readability.
---------
Co-authored-by: Kumar <36933347+rav4kumar@users.noreply.github.com>
* Add live delay toggle to torqued.py and twilsonco NNLC
* Set this in init
* Clean up
* Live delay toggle refactor
* ModeldLagd -> LagdToggle
* This is for lagd_toggle.py
* Add to NNLC
* Lagd toggle:
Display current values on UI
* Add break
* LagdToggleDelay
Live edit software_delay when livedelay is toggled `off`
* Always show description
* Add description as to why values don't update offroad
---------
Co-authored-by: Kumar <36933347+rav4kumar@users.noreply.github.com>
* TorqueExtBase: use learned lag
lower non-zero limit for lag
restore original lag mod
* NNLC: use learned lat lag
* add test
* non-zero lag in test
* lower lag mod to 0.1s
* Update constant to reflect Twilsonco's recommendations.
Simplified control flag handling for angle steering, adjusted torque calculations for smoother ramp rates, and updated tuning parameters for the Hyundai Ioniq 5 PE. Minor adjustment to return value handling in lateral control functions.
Remove duplicate STEER_ANGLE_SATURATION_THRESHOLD import
Cleaned up an unnecessary duplicate import of STEER_ANGLE_SATURATION_THRESHOLD from latcontrol_angle_torque. This simplifies the module imports and prevents potential redundancy or confusion.
Refactor lateral control to combine torque and angle logic
Merged functionalities of LatControlTorque and LatControlAngle into a single LatControlAngleTorque class. Refactored code to utilize methods from both parent classes, reducing duplication and improving maintainability.
Add angle-torque hybrid lateral control for Hyundai CAN FD
Introduces `LatControlAngleTorque` to enable hybrid angle and torque-based steering for specific Hyundai models. Updates related logic in carcontroller, interface, and controlsd to accommodate this new lateral control method. Adjusts torque parameters for enhanced control in supported models.
Refactored the calculation and application of the steering angle to improve code clarity and ensure smoother transitions. Removed unused parameter update logic in `latcontrol_angle.py` and enhanced handling of driver overrides in `carcontroller.py`.
Replaced `self._params` with `self.params` to correctly access the parameter `HkgTuningAngleSmoothingFactor`. This ensures the smoothing factor is updated as intended during the control loop.
Introduced a dynamic smoothing factor using the `HkgTuningAngleSmoothingFactor` parameter. This allows more granular control over curvature smoothing based on customizable user input, enhancing driving smoothness. Added necessary logic to process and apply this parameter efficiently.
Updated the `filter_speed_matrox` values to improve curvature filtering behavior at different speeds. This change ensures better handling and stability across a wider range of driving conditions.
Introduced speed-based dynamic alpha adjustment using interpolation for smoother curvature filtering. This improves steering angle calculations by adapting filter sensitivity to vehicle speed, enhancing control performance.
Updated curvature breakpoints and torque scaling for improved control in sharp turns. Increased filter alpha for faster curvature response while maintaining system stability.
Updated curvature breakpoints in Hyundai carcontroller to improve torque scaling for curved driving. Slightly refined the filter coefficient in lateral control for smoother curvature filtering and more accurate steering adjustments.
Introduced dynamic torque scaling based on curvature for smoother and more adaptive steering control. Replaced raw curvature inputs with filtered curvature for enhanced stability and reduced noise in steering angle calculations. Removed unused speed scaling logic to simplify the lateral control flow.
This reverts commit ea1af879ba2905b076ccfe65993a9db701d689dd.
Revert "More improvement but still not quite"
This reverts commit ad95493c5c61b2ace7c459d2ebc151ddaa80040f.
Revert "Adjust low-speed scaling for lateral control angle"
This reverts commit 6f789ac1ebb66b0239b4028303573c2d7d386b39.
Revert "Refactor speed-based steering scaling logic."
This reverts commit 1d40735ab8db8d470ff3b287a6b42847beffff7d.
Updated the steering angle computation to use a clearer and more descriptive speed-scaling configuration. Replaced low-speed-specific logic with a generalized approach based on speed breakpoints and corresponding influence factors. This improves maintainability and ensures smoother steering adjustments at varying speeds.
Refined the low-speed scaling parameters by modifying speed breakpoints and factors. This improves handling at lower speeds for smoother and more predictable behavior.
DevTekVE