GM long pitch compensation

Co-Authored-By: Tim Wilson <7284371+twilsonco@users.noreply.github.com>

selfdrive/car/gm/carcontroller.py

@@ -1,11 +1,14 @@
 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
 from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.gm import gmcan
 from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR
+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
@@ -18,6 +21,10 @@ 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:
   def __init__(self, dbc_name, CP, VM):
@@ -43,9 +50,12 @@ class CarController:
     self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
 
     # FrogPilot variables
+    self.pitch = FirstOrderFilter(0., 0.09 * 4, DT_CTRL * 4)  # runs at 25 Hz
+    self.accel_g = 0.0
 
   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
@@ -92,16 +102,25 @@ class CarController:
       # 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
+
         if not CC.longActive:
           # ASCM sends max regen when not enabled
           self.apply_gas = self.params.INACTIVE_REGEN
           self.apply_brake = 0
         else:
+          brake_accel = actuators.accel + self.accel_g * interp(CS.out.vEgo, BRAKE_PITCH_FACTOR_BP, BRAKE_PITCH_FACTOR_V)
           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:
@@ -132,6 +151,9 @@ class CarController:
           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.leadVisible, 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)
@@ -172,6 +194,7 @@ class CarController:
         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