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DevTekVE
85ce84e7b7
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.
30 lines
1.1 KiB
Python
30 lines
1.1 KiB
Python
import math
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from cereal import log
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from openpilot.selfdrive.controls.lib.latcontrol import LatControl
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STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees
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class LatControlAngle(LatControl):
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def __init__(self, CP, CP_SP, CI):
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super().__init__(CP, CP_SP, CI)
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self.sat_check_min_speed = 5.
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def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
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angle_log = log.ControlsState.LateralAngleState.new_message()
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if not active:
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angle_log.active = False
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angle_steers_des = float(CS.steeringAngleDeg)
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else:
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angle_log.active = True
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angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
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angle_steers_des += params.angleOffsetDeg
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angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
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angle_log.saturated = bool(self._check_saturation(angle_control_saturated, CS, False, curvature_limited))
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angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
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angle_log.steeringAngleDesiredDeg = angle_steers_des
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return 0, float(angle_steers_des), angle_log
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