resolved #34331 #34372
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resolved #34331 #34372
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| #!/bin/sh | ||
| command -v git-lfs >/dev/null 2>&1 || { echo >&2 "\nThis repository is configured for Git LFS but 'git-lfs' was not found on your path. If you no longer wish to use Git LFS, remove this hook by deleting the 'post-commit' file in the hooks directory (set by 'core.hookspath'; usually '.git/hooks').\n"; exit 2; } | ||
| git lfs post-commit "$@" |
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common/tests/test_numpy_fast.py
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| def test_correctness_controls(self): | ||
| _A_CRUISE_MIN_BP = np.asarray([0., 5., 10., 20., 40.]) | ||
| _A_CRUISE_MIN_V = np.asarray([-1.0, -.8, -.67, -.5, -.30]) | ||
| v_ego_arr = [-1, -1e-12, 0, 4, 5, 6, 7, 10, 11, 15.2, 20, 21, 39, | ||
| 39.999999, 40, 41] |
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| import math | ||
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| from cereal import log | ||
| from openpilot.selfdrive.controls.lib.latcontrol import LatControl | ||
| from openpilot.common.pid import PIDController | ||
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| class LatControlPID(LatControl): | ||
| def __init__(self, CP, CI): | ||
| super().__init__(CP, CI) | ||
| self.pid = PIDController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV), | ||
| (CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV), | ||
| k_f=CP.lateralTuning.pid.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max) | ||
| self.get_steer_feedforward = CI.get_steer_feedforward_function() | ||
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| def reset(self): | ||
| super().reset() | ||
| self.pid.reset() | ||
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| def update(self, active, CS, VM, params, steer_limited, desired_curvature, calibrated_pose): | ||
| pid_log = log.ControlsState.LateralPIDState.new_message() | ||
| pid_log.steeringAngleDeg = float(CS.steeringAngleDeg) | ||
| pid_log.steeringRateDeg = float(CS.steeringRateDeg) | ||
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| angle_steers_des_no_offset = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll)) | ||
| angle_steers_des = angle_steers_des_no_offset + params.angleOffsetDeg | ||
| error = angle_steers_des - CS.steeringAngleDeg | ||
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| pid_log.steeringAngleDesiredDeg = angle_steers_des | ||
| pid_log.angleError = error | ||
| if not active: | ||
| output_steer = 0.0 | ||
| pid_log.active = False | ||
| self.pid.reset() | ||
| else: | ||
| # offset does not contribute to resistive torque | ||
| steer_feedforward = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo) | ||
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| output_steer = self.pid.update(error, override=CS.steeringPressed, | ||
| feedforward=steer_feedforward, speed=CS.vEgo) | ||
| pid_log.active = True | ||
| pid_log.p = float(self.pid.p) | ||
| pid_log.i = float(self.pid.i) | ||
| pid_log.f = float(self.pid.f) | ||
| pid_log.output = float(output_steer) | ||
| pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited)) | ||
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| return output_steer, angle_steers_des, pid_log |
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|
hey @maxime-desroches , I have changed the requested changes kindly review once again |
|
Closing in favor of #34368 |
alright |
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removed the numpy_fast.py and handles all the cast issues in pycapnp and dependent files