diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 742730c..ac76f4d 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -1,5 +1,6 @@ from cereal import car from openpilot.common.conversions import Conversions as CV +from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.numpy_fast import interp, clip from openpilot.common.params import Params from openpilot.common.realtime import DT_CTRL @@ -8,6 +9,8 @@ from openpilot.selfdrive.car import apply_driver_steer_torque_limits, create_gas from openpilot.selfdrive.car.gm import gmcan from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR from openpilot.selfdrive.car.interfaces import CarControllerBase +from openpilot.selfdrive.controls.lib.drive_helpers import apply_deadzone +from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY VisualAlert = car.CarControl.HUDControl.VisualAlert NetworkLocation = car.CarParams.NetworkLocation @@ -20,6 +23,10 @@ CAMERA_CANCEL_DELAY_FRAMES = 10 # Enforce a minimum interval between steering messages to avoid a fault MIN_STEER_MSG_INTERVAL_MS = 15 +# Constants for pitch compensation +PITCH_DEADZONE = 0.01 # [radians] 0.01 ≈ 1% grade +BRAKE_PITCH_FACTOR_BP = [5., 10.] # [m/s] smoothly revert to planned accel at low speeds +BRAKE_PITCH_FACTOR_V = [0., 1.] # [unitless in [0,1]]; don't touch class CarController(CarControllerBase): def __init__(self, dbc_name, CP, VM): @@ -47,6 +54,9 @@ class CarController(CarControllerBase): # FrogPilot variables self.params_ = Params() + self.pitch = FirstOrderFilter(0., 0.09 * 4, DT_CTRL * 4) # runs at 25 Hz + self.accel_g = 0.0 + @staticmethod def calc_pedal_command(accel: float, long_active: bool) -> float: if not long_active: return 0. @@ -64,6 +74,7 @@ class CarController(CarControllerBase): def update(self, CC, CS, now_nanos, frogpilot_variables): actuators = CC.actuators + accel = actuators.accel hud_control = CC.hudControl hud_alert = hud_control.visualAlert hud_v_cruise = hud_control.setSpeed @@ -110,6 +121,14 @@ class CarController(CarControllerBase): # Gas/regen, brakes, and UI commands - all at 25Hz if self.frame % 4 == 0: stopping = actuators.longControlState == LongCtrlState.stopping + + # Pitch compensated acceleration; + # TODO: include future pitch (sm['modelDataV2'].orientation.y) to account for long actuator delay + if frogpilot_variables.long_pitch and len(CC.orientationNED) > 1: + self.pitch.update(CC.orientationNED[1]) + self.accel_g = ACCELERATION_DUE_TO_GRAVITY * apply_deadzone(self.pitch.x, PITCH_DEADZONE) # driving uphill is positive pitch + accel += self.accel_g + at_full_stop = CC.longActive and CS.out.standstill near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE) interceptor_gas_cmd = 0 @@ -122,19 +141,20 @@ class CarController(CarControllerBase): self.apply_brake = int(min(-100 * self.CP.stopAccel, self.params.MAX_BRAKE)) else: # Normal operation + brake_accel = actuators.accel + self.accel_g * interp(CS.out.vEgo, BRAKE_PITCH_FACTOR_BP, BRAKE_PITCH_FACTOR_V) if self.CP.carFingerprint in EV_CAR: self.params.update_ev_gas_brake_threshold(CS.out.vEgo) if frogpilot_variables.sport_plus: - self.apply_gas = int(round(interp(actuators.accel, self.params.EV_GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS))) + 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))) else: - self.apply_gas = int(round(interp(actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))) - self.apply_brake = int(round(interp(actuators.accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V))) + 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))) + 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))) else: if frogpilot_variables.sport_plus: - self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS))) + 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))) else: - self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))) - self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V))) + 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))) + 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))) # Don't allow any gas above inactive regen while stopping # FIXME: brakes aren't applied immediately when enabling at a stop if stopping: @@ -178,6 +198,9 @@ class CarController(CarControllerBase): send_fcw = hud_alert == VisualAlert.fcw can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled, hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw)) + else: + # to keep accel steady for logs when not sending gas + accel += self.accel_g # Radar needs to know current speed and yaw rate (50hz), # and that ADAS is alive (10hz) @@ -227,6 +250,7 @@ class CarController(CarControllerBase): can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status)) new_actuators = actuators.copy() + new_actuators.accel = accel new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX new_actuators.steerOutputCan = self.apply_steer_last new_actuators.gas = self.apply_gas