f97149e1b5
* fix routeinfo... * livePose -> liveLocationKalman * fix.. * for debug.. socketmaster * fix.. SCC track * fix.. carrotman * comfortBrake 2.5 -> 2.4 * fix.. * test gps debug * test gps * revert * test gps msg * test restart * ff * ff * ff * liveDelay(SAD), latSmoothSeconds (#158) * SAD default: 0 (use liveDelay)
32 lines
1.2 KiB
Python
32 lines
1.2 KiB
Python
import math
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import numpy as np
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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, CI):
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super().__init__(CP, CI)
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self.sat_check_min_speed = 5.
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self.angle_steers_des = 0.0
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def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, llk, 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 = float(angle_steers_des) if not CS.steeringPressed else float(CS.steeringAngleDeg)
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return 0, float(angle_steers_des), angle_log
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