Vehicles - GM - Long Pitch Compensation
Co-Authored-By: Tim Wilson <7284371+twilsonco@users.noreply.github.com>
This commit is contained in:
FrogAi
parent
9e1968be87
commit
d88d16f6cb
@ -1,5 +1,6 @@
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from cereal import car
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from openpilot.common.conversions import Conversions as CV
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from openpilot.common.filter_simple import FirstOrderFilter
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from openpilot.common.numpy_fast import interp, clip
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from openpilot.common.params import Params
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from openpilot.common.realtime import DT_CTRL
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@ -8,6 +9,8 @@ from openpilot.selfdrive.car import apply_driver_steer_torque_limits, create_gas
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from openpilot.selfdrive.car.gm import gmcan
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from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR
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from openpilot.selfdrive.car.interfaces import CarControllerBase
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from openpilot.selfdrive.controls.lib.drive_helpers import apply_deadzone
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from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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NetworkLocation = car.CarParams.NetworkLocation
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@ -20,6 +23,10 @@ CAMERA_CANCEL_DELAY_FRAMES = 10
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# Enforce a minimum interval between steering messages to avoid a fault
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MIN_STEER_MSG_INTERVAL_MS = 15
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# Constants for pitch compensation
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PITCH_DEADZONE = 0.01 # [radians] 0.01 ≈ 1% grade
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BRAKE_PITCH_FACTOR_BP = [5., 10.] # [m/s] smoothly revert to planned accel at low speeds
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BRAKE_PITCH_FACTOR_V = [0., 1.] # [unitless in [0,1]]; don't touch
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class CarController(CarControllerBase):
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def __init__(self, dbc_name, CP, VM):
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@ -47,6 +54,9 @@ class CarController(CarControllerBase):
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# FrogPilot variables
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self.params_ = Params()
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self.pitch = FirstOrderFilter(0., 0.09 * 4, DT_CTRL * 4) # runs at 25 Hz
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self.accel_g = 0.0
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@staticmethod
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def calc_pedal_command(accel: float, long_active: bool) -> float:
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if not long_active: return 0.
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@ -64,6 +74,7 @@ class CarController(CarControllerBase):
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def update(self, CC, CS, now_nanos, frogpilot_variables):
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actuators = CC.actuators
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accel = actuators.accel
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hud_control = CC.hudControl
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hud_alert = hud_control.visualAlert
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hud_v_cruise = hud_control.setSpeed
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@ -110,6 +121,14 @@ class CarController(CarControllerBase):
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# Gas/regen, brakes, and UI commands - all at 25Hz
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if self.frame % 4 == 0:
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stopping = actuators.longControlState == LongCtrlState.stopping
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# Pitch compensated acceleration;
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# TODO: include future pitch (sm['modelDataV2'].orientation.y) to account for long actuator delay
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if frogpilot_variables.long_pitch and len(CC.orientationNED) > 1:
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self.pitch.update(CC.orientationNED[1])
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self.accel_g = ACCELERATION_DUE_TO_GRAVITY * apply_deadzone(self.pitch.x, PITCH_DEADZONE) # driving uphill is positive pitch
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accel += self.accel_g
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at_full_stop = CC.longActive and CS.out.standstill
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near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
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interceptor_gas_cmd = 0
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@ -122,19 +141,20 @@ class CarController(CarControllerBase):
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self.apply_brake = int(min(-100 * self.CP.stopAccel, self.params.MAX_BRAKE))
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else:
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# Normal operation
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brake_accel = actuators.accel + self.accel_g * interp(CS.out.vEgo, BRAKE_PITCH_FACTOR_BP, BRAKE_PITCH_FACTOR_V)
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if self.CP.carFingerprint in EV_CAR:
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self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
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if frogpilot_variables.sport_plus:
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self.apply_gas = int(round(interp(actuators.accel, self.params.EV_GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS)))
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self.apply_gas = int(round(interp(accel if frogpilot_variables.long_pitch else actuators.accel, self.params.EV_GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS)))
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else:
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self.apply_gas = int(round(interp(actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
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self.apply_brake = int(round(interp(actuators.accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
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self.apply_gas = int(round(interp(accel if frogpilot_variables.long_pitch else actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
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self.apply_brake = int(round(interp(brake_accel if frogpilot_variables.long_pitch else actuators.accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
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else:
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if frogpilot_variables.sport_plus:
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self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS)))
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self.apply_gas = int(round(interp(accel if frogpilot_variables.long_pitch else actuators.accel, self.params.GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS)))
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else:
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self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
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self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
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self.apply_gas = int(round(interp(accel if frogpilot_variables.long_pitch else actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
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self.apply_brake = int(round(interp(brake_accel if frogpilot_variables.long_pitch else actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
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# Don't allow any gas above inactive regen while stopping
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# FIXME: brakes aren't applied immediately when enabling at a stop
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if stopping:
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@ -178,6 +198,9 @@ class CarController(CarControllerBase):
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send_fcw = hud_alert == VisualAlert.fcw
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can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
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hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw))
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else:
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# to keep accel steady for logs when not sending gas
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accel += self.accel_g
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# Radar needs to know current speed and yaw rate (50hz),
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# and that ADAS is alive (10hz)
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@ -227,6 +250,7 @@ class CarController(CarControllerBase):
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can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status))
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new_actuators = actuators.copy()
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new_actuators.accel = accel
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new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
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new_actuators.steerOutputCan = self.apply_steer_last
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new_actuators.gas = self.apply_gas
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