brianhansonxyz/oscarpilot
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Calculate average desired curvature using planned distance

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Added toggle to calculate average desired curvature using planned distance instead of the car's speed.

Credit goes to Pfeiferj!

https: //github.com/pfeiferj
Co-Authored-By: Jacob Pfeifer <jacob@pfeifer.dev>
This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent 8baf713117
commit b4550a13ba
8 changed files with 35 additions and 7 deletions
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6
selfdrive/controls/controlsd.py
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@@ -649,7 +649,9 @@ class Controls:
self.desired_curvature, self.desired_curvature_rate = get_lag_adjusted_curvature(self.CP, CS.vEgo,
lat_plan.psis,
lat_plan.curvatures,
lat_plan.curvatureRates)
lat_plan.curvatureRates,
frogpilot_long_plan.distances,
self.average_desired_curvature)
actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
self.steer_limited, self.desired_curvature,
self.desired_curvature_rate, self.sm['liveLocationKalman'])
@@ -940,6 +942,8 @@ class Controls:
if hasattr(obj, 'update_frogpilot_params'):
obj.update_frogpilot_params(self.params)
self.average_desired_curvature = self.params.get_bool("AverageCurvature")
longitudinal_tune = self.params.get_bool("LongitudinalTune")
self.sport_plus = self.params.get_int("AccelerationProfile") == 3 and longitudinal_tune