controls: publish current curvature in CarControl #34679
Merged
+2
−1
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
|
@haraschax what do you think? The ID.4 takes a curvature, however its current curvature reading is inaccurate so it doesn't reach our target curvature. If we offset the desired curvature with the difference of the car's reading and our reading of current curvature it seems to work. We can also error correct on angle/curvature to fix this, but we haven't needed to add this to LatControlAngle yet |
51 tasks
|
Yeah this seems fine, this doesn't break the API. |
|
Can you bump opendbc? |
jyoung8607
force-pushed
the
cc-curvature
branch
from
ccb3916 to
f5f5355
Compare
|
@sshane this should just need replay logs updated. |
|
This PR has had no activity for 9 days. It will be automatically closed in 2 days if there is no activity. |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
In support of Volkswagen ID.4 (MEB). Requires commaai/opendbc#1803.
The lateral control coordinator accepts curvature for actuation, and does a pretty good job controlling the car. However, it's closing the control loop against its own idea of the vehicle's curvature, which is different from what openpilot calculates.
To drive the car properly, we need to calculate the difference between those current curvatures, and offset our actuation command by that amount. For the car port to do that, it needs access to the vehicle model curvature.
Before:
After: