openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

selfdrive/controls/lib/latcontrol_angle.py

@@ -0,0 +1,29 @@
+import math
+
+from cereal import log
+from openpilot.selfdrive.controls.lib.latcontrol import LatControl
+
+STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees
+
+
+class LatControlAngle(LatControl):
+  def __init__(self, CP, CI):
+    super().__init__(CP, CI)
+    self.sat_check_min_speed = 5.
+
+  def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk):
+    angle_log = log.ControlsState.LateralAngleState.new_message()
+
+    if not active:
+      angle_log.active = False
+      angle_steers_des = float(CS.steeringAngleDeg)
+    else:
+      angle_log.active = True
+      angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
+      angle_steers_des += params.angleOffsetDeg
+
+    angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
+    angle_log.saturated = self._check_saturation(angle_control_saturated, CS, False)
+    angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
+    angle_log.steeringAngleDesiredDeg = angle_steers_des
+    return 0, float(angle_steers_des), angle_log