246 lines
12 KiB
XML
246 lines
12 KiB
XML
<?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 containers="1" tab_name="Lateral Plan Conformance">
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<Container>
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<DockSplitter count="4" sizes="0.25;0.25;0.25;0.25" orientation="-">
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<DockArea name="desired vs actual lateral acceleration (closer means better conformance to plan)">
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<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
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<range top="3.586831" right="269.643117" left="0.000140" bottom="-2.354077"/>
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<limitY/>
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<curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
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<curve color="#d62728" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel"/>
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</plot>
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</DockArea>
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<DockArea name="desired vs actual lateral acceleration, road-roll factored out (closer means better conformance to plan)">
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<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
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<range top="3.445087" right="269.643117" left="0.000140" bottom="-2.654874"/>
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<limitY/>
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<curve color="#1ac938" name="Actual lateral accel (roll compensated)"/>
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<curve color="#ff7f0e" name="Desired lateral accel (roll compensated)"/>
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</plot>
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</DockArea>
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<DockArea name="controller feed-forward vs actuator output (closer means controller prediction is more accurate)">
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<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
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<range top="1.082031" right="269.643117" left="0.000140" bottom="-1.050781"/>
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<limitY/>
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<curve color="#9467bd" name="/carOutput/actuatorsOutput/steer">
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<transform alias="/carOutput/actuatorsOutput/steer[Scale/Offset]" name="Scale/Offset">
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<options value_scale="-1" time_offset="0" value_offset="0"/>
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</transform>
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</curve>
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<curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/f"/>
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<curve color="#ff000f" name="/carState/steeringPressed"/>
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</plot>
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</DockArea>
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<DockArea name="vehicle speed">
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<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
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<range top="101.506277" right="269.643117" left="0.000140" bottom="-2.475763"/>
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<limitY/>
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<curve color="#d62728" name="carState.vEgo mph"/>
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<curve color="#1ac938" name="carState.vEgo kmh"/>
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<curve color="#ff7f0e" name="/carState/vEgo"/>
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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 containers="1" tab_name="Actuator Performance">
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<Container>
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<DockSplitter count="3" sizes="0.33361;0.33278;0.33361" orientation="-">
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<DockArea name="offline-calculated vs online-learned lateral accel scaling factor, accel obtained from 100% actuator output">
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<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
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<range top="4.186453" right="269.490213" left="0.000000" bottom="3.175940"/>
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<limitY/>
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<curve color="#1f77b4" name="/liveTorqueParameters/latAccelFactorFiltered"/>
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<curve color="#d62728" name="/liveTorqueParameters/latAccelFactorRaw"/>
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<curve color="#1c9222" name="/carParams/lateralTuning/torque/latAccelFactor"/>
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</plot>
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</DockArea>
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<DockArea name="learned lateral accel offset, vehicle-specific compensation to obtain true zero lateral accel">
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<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
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<range top="0.003035" right="269.490213" left="0.000000" bottom="-0.124417"/>
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<limitY/>
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<curve color="#1ac938" name="/liveTorqueParameters/latAccelOffsetFiltered"/>
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<curve color="#ff7f0e" name="/liveTorqueParameters/latAccelOffsetRaw"/>
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</plot>
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</DockArea>
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<DockArea name="offline-calculated vs online-learned EPS friction factor, necessary to start moving the steering wheel">
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<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
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<range top="0.121143" right="269.490213" left="0.000000" bottom="-0.002955"/>
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<limitY/>
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<curve color="#f14cc1" name="/liveTorqueParameters/frictionCoefficientFiltered"/>
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<curve color="#9467bd" name="/liveTorqueParameters/frictionCoefficientRaw"/>
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<curve color="#1c9222" name="/carParams/lateralTuning/torque/friction"/>
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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 containers="1" tab_name="Vehicle Dynamics">
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<Container>
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<DockSplitter count="3" sizes="0.33361;0.33278;0.33361" orientation="-">
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<DockArea name="configured-initial vs online-learned steerRatio, set configured value to match learned">
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<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
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<range top="12.903705" right="269.638801" left="0.000000" bottom="12.748092"/>
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<limitY/>
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<curve color="#1f77b4" name="/carParams/steerRatio"/>
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<curve color="#1ac938" name="/liveParameters/steerRatio"/>
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</plot>
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</DockArea>
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<DockArea name="configured-initial vs online-learned tireStiffnessRatio, set configured value to match learned">
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<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
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<range top="1.000520" right="269.638801" left="0.000000" bottom="0.999718"/>
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<limitY/>
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<curve color="#d62728" name="/carParams/tireStiffnessFactor"/>
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<curve color="#ff7f0e" name="/liveParameters/stiffnessFactor"/>
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</plot>
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</DockArea>
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<DockArea name="live steering angle offsets for straight-ahead driving, large values here may indicate alignment problems">
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<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
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<range top="-0.332067" right="269.638801" left="0.000000" bottom="-3.149970"/>
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<limitY/>
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<curve color="#f14cc1" name="/liveParameters/angleOffsetAverageDeg"/>
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<curve color="#9467bd" name="/liveParameters/angleOffsetDeg"/>
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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 containers="1" tab_name="Controller PIF Terms">
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<Container>
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<DockSplitter count="3" sizes="0.33361;0.33278;0.33361" orientation="-">
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<DockArea name="controller feed-forward vs actuator output (closer means controller prediction is more accurate)">
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<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
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<range top="1.082031" right="269.643117" left="0.000140" bottom="-1.050781"/>
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<limitY/>
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<curve color="#9467bd" name="/carOutput/actuatorsOutput/steer">
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<transform alias="/carOutput/actuatorsOutput/steer[Scale/Offset]" name="Scale/Offset">
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<options value_scale="-1.0" time_offset="0" value_offset="0"/>
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</transform>
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</curve>
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<curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/f"/>
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<curve color="#ff000f" name="/carState/steeringPressed"/>
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</plot>
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</DockArea>
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<DockArea name="proportional, integral, and feed-forward terms (actuator output = sum of PIF terms)">
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<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
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<range top="1.572946" right="269.643117" left="0.000140" bottom="-3.822608"/>
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<limitY/>
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<curve color="#0ab027" name="/controlsState/lateralControlState/torqueState/f"/>
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<curve color="#d62728" name="/controlsState/lateralControlState/torqueState/p"/>
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<curve color="#ffaf00" name="/controlsState/lateralControlState/torqueState/i"/>
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<curve color="#756a6a" name="Zero"/>
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</plot>
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</DockArea>
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<DockArea name="road roll angle, from openpilot localizer">
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<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
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<range top="0.059127" right="269.643117" left="0.000140" bottom="-0.031841"/>
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<limitY/>
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<curve color="#f14cc1" name="/liveParameters/roll"/>
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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 containers="1" tab_name="Actuator Delay Estimation">
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<Container>
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<DockSplitter count="4" sizes="0.25;0.25;0.25;0.25" orientation="-">
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<DockArea name="desired vs actual lateral acceleration (baseline)">
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<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
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<range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
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<limitY/>
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<curve color="#d62728" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel"/>
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<curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
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</plot>
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</DockArea>
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<DockArea name="desired vs actual lateral acceleration (desired shifted by +0.1s)">
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<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
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<range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
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<limitY/>
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<curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
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<transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
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<options value_scale="1.0" time_offset="0.1" value_offset="0"/>
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</transform>
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</curve>
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<curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
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</plot>
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</DockArea>
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<DockArea name="desired vs actual lateral acceleration (desired shifted by +0.2s)">
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<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
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<range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
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<limitY/>
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<curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
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<transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
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<options value_scale="1.0" time_offset="0.2" value_offset="0"/>
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</transform>
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</curve>
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<curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
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</plot>
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</DockArea>
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<DockArea name="desired vs actual lateral acceleration (desired shifted by +0.3s)">
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<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
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<range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
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<limitY/>
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<curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
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<transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
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<options value_scale="1.0" time_offset="0.3" value_offset="0"/>
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</transform>
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</curve>
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<curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
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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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<currentTabIndex index="0"/>
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</tabbed_widget>
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<use_relative_time_offset enabled="1"/>
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<!-- - - - - - - - - - - - - - - -->
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<!-- - - - - - - - - - - - - - - -->
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<Plugins>
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<plugin ID="DataLoad Rlog"/>
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<plugin ID="Cereal Subscriber"/>
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</Plugins>
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<!-- - - - - - - - - - - - - - - -->
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<!-- - - - - - - - - - - - - - - -->
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<customMathEquations>
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<snippet name="Zero">
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<global></global>
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<function>return (0)</function>
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<linked_source>/carState/canValid</linked_source>
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</snippet>
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<snippet name="Actual lateral accel (roll compensated)">
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<global></global>
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<function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
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<linked_source>/controlsState/curvature</linked_source>
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<additional_sources>
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<v1>/carState/vEgo</v1>
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<v2>/liveParameters/roll</v2>
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</additional_sources>
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</snippet>
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<snippet name="Desired lateral accel (roll compensated)">
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<global></global>
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<function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
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<linked_source>/controlsState/desiredCurvature</linked_source>
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<additional_sources>
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<v1>/carState/vEgo</v1>
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<v2>/liveParameters/roll</v2>
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</additional_sources>
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</snippet>
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<snippet name="carState.vEgo mph">
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<global></global>
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<function>return value * 2.23694</function>
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<linked_source>/carState/vEgo</linked_source>
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</snippet>
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<snippet name="carState.vEgo kmh">
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<global></global>
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<function>return value * 3.6</function>
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<linked_source>/carState/vEgo</linked_source>
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</snippet>
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</customMathEquations>
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<snippets/>
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<!-- - - - - - - - - - - - - - - -->
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</root>
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