Merge Gernby's Resonant FF steering (#62)

* Fixed feed-forward to consider steer_offset

* fixed a small oops on types

* Testing strategies for zero-crossing

* Moved angle stat collection to latcontrol.py

* First version that runs

* added outbound interface for feed-forward table

* First working

* Added more metrics

* Adjusted parameter timing

* performance tweaks

* Cleanup

* untested tweaks

* minor tweaks

* many untested changes

* going the other way with some things...

* Best yet

* cleaned up personalized "stuff"

* more cleanup for general use

* untested: minor adjustment to further reduce noise

* Fixed defect in desired angle interpolation

* some cleanup

* reverted change to Ki

* Reverted changes to manager.py

* Added steering rate consideration to latcontrol

* cleaned up for PR

* Fixed merge

* Testing approach when desired angle close to actual

* trying rate-based feed-forward

* added self-tuning parms for rate and angle FF

* fixed trim logic, and persisted to flash

* working amazingly well

* decreased time lapse for angle-based FF adjust

* many tweaks, self-tuning is a bitch

* simulteneous dual mode feedforward working very well

* added angular accelleration limit

* added super awesome angular accel limit

* non-specific save

* switching directions again

* oops

* ugly code with amazing results

* awesome, but untested after some cleanup

* more cleanup

* cleanup of the cleanup?  Need to test

* works amazingly well ... big O face

* cleanup

* I wish git was batter for cleanup

* hopefully proper merge of merged fixes of merge

* fixed an oops for non-bosch hondas

* added steer rate to future state calculation

* added actual acceleration to future projected state

* fixed projected angle error for PIF

* untested ...

* added comments

selfdrive/can/parser.cc

@@ -166,6 +166,9 @@ class CANParser {
     subscriber = zmq_socket(context, ZMQ_SUB);
     zmq_setsockopt(subscriber, ZMQ_SUBSCRIBE, "", 0);
 
+    forwarder = zmq_socket(context, ZMQ_PUB);
+    zmq_bind(forwarder, "tcp://*:8592");
+
     std::string tcp_addr_str;
 
     if (sendcan) {
@@ -244,8 +247,17 @@ class CANParser {
       // parse the messages
       for (int i = 0; i < msg_count; i++) {
         auto cmsg = cans[i];
+
+        if (cmsg.getDat().size() > 8) continue; //shouldnt ever happen
+        uint8_t dat[8] = {0};
+        memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size());
+
+        if (can_forward_period_ns > 0) raw_can_values[cmsg.getSrc()][cmsg.getAddress()] = read_u64_be(dat);
+
+        //if (((cmsg.getAddress() == 0xe4 or cmsg.getAddress() == 0x33d) and cmsg.getSrc() == bus) or \
+        //     (cmsg.getSrc() != bus and cmsg.getAddress() != 0x33d and cmsg.getAddress() != 0xe4 and \
+        //     (cmsg.getAddress() < 0x240 or cmsg.getAddress() > 0x24A))) {
         if (cmsg.getSrc() != bus) {
-          // DEBUG("skip %d: wrong bus\n", cmsg.getAddress());
           continue;
         }
         auto state_it = message_states.find(cmsg.getAddress());
@@ -254,27 +266,38 @@ class CANParser {
           continue;
         }
 
-        if (cmsg.getDat().size() > 8) continue; //shouldnt ever happen
-        uint8_t dat[8] = {0};
-        memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size());
-
         // Assumes all signals in the message are of the same type (little or big endian)
         // TODO: allow signals within the same message to have different endianess
         auto& sig = message_states[cmsg.getAddress()].parse_sigs[0];
         if (sig.is_little_endian) {
             p = read_u64_le(dat);
         } else {
             p = read_u64_be(dat);
-        }
+        } 
 
         DEBUG("  proc %X: %llx\n", cmsg.getAddress(), p);
 
         state_it->second.parse(sec, cmsg.getBusTime(), p);
       }
   }
 
+  void ForwardCANData(uint64_t sec) {
+      if (sec > next_can_forward_ns) {
+          next_can_forward_ns += can_forward_period_ns;
+          // next_can_forward_ns starts at 0, so it needs to be reset.  Also handle delays.
+          if (sec > next_can_forward_ns) next_can_forward_ns = sec + can_forward_period_ns;
+          std::string canOut = "";
+          for (auto src : raw_can_values) {
+              for (auto pid : src.second) {
+                  canOut = canOut + std::to_string(src.first) + " " + std::to_string(pid.first) + " " + std::to_string(pid.second) + "|";
+              }
+          }
+          zmq_send(forwarder, canOut.data(), canOut.size(), 0);
+      }
+  }
+
   void UpdateValid(uint64_t sec) {
-    can_valid = true;
+    can_valid = true; 
     for (const auto& kv : message_states) {
       const auto& state = kv.second;
       if (state.check_threshold > 0 && (sec - state.seen) > state.check_threshold) {
@@ -317,6 +340,8 @@ class CANParser {
       UpdateCans(sec, cans);
     }
 
+    if (can_forward_period_ns > 0) ForwardCANData(sec);
+
     UpdateValid(sec);
 
     zmq_msg_close(&msg);
@@ -351,6 +376,11 @@ class CANParser {
   void *context = NULL;
   void *subscriber = NULL;
 
+  void *forwarder = NULL;
+  uint64_t can_forward_period_ns = 100000000;
+  uint64_t next_can_forward_ns = 0;
+  std::unordered_map<uint32_t, std::unordered_map<uint32_t, uint64_t>> raw_can_values;
+
   const DBC *dbc = NULL;
   std::unordered_map<uint32_t, MessageState> message_states;
 };

selfdrive/car/honda/carstate.py

@@ -36,6 +36,7 @@ def get_can_signals(CP):
       ("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
       ("STEER_ANGLE", "STEERING_SENSORS", 0),
       ("STEER_ANGLE_RATE", "STEERING_SENSORS", 0),
+      ("STEER_ANGLE_OFFSET", "STEERING_SENSORS", 0),
       ("STEER_TORQUE_SENSOR", "STEER_STATUS", 0),
       ("LEFT_BLINKER", "SCM_FEEDBACK", 0),
       ("RIGHT_BLINKER", "SCM_FEEDBACK", 0),
@@ -242,7 +243,11 @@ def update(self, cp, cp_cam):
       self.user_gas_pressed = self.user_gas > 0 # this works because interceptor read < 0 when pedal position is 0. Once calibrated, this will change
 
     self.gear = 0 if self.CP.carFingerprint == CAR.CIVIC else cp.vl["GEARBOX"]['GEAR']
-    self.angle_steers = cp.vl["STEERING_SENSORS"]['STEER_ANGLE']
+    if self.CP.carFingerprint in HONDA_BOSCH:
+      self.angle_steers = cp.vl["STEERING_SENSORS"]['STEER_ANGLE'] + cp.vl["STEERING_SENSORS"]['STEER_ANGLE_OFFSET']
+    else:
+      self.angle_steers = cp.vl["STEERING_SENSORS"]['STEER_ANGLE']
+
     self.angle_steers_rate = cp.vl["STEERING_SENSORS"]['STEER_ANGLE_RATE']
 
     #self.cruise_setting = cp.vl["SCM_BUTTONS"]['CRUISE_SETTING']

selfdrive/car/honda/interface.py

@@ -373,7 +373,7 @@ def get_params(candidate, fingerprint):
     ret.startAccel = 0.5
 
     ret.steerActuatorDelay = 0.1
-    ret.steerRateCost = 0.5
+    ret.steerRateCost = 0.35
 
     return ret
 

selfdrive/controls/controlsd.py

@@ -274,7 +274,7 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
                                               v_cruise_kph, plan.vTarget, plan.vTargetFuture, plan.aTarget,
                                               CP, PL.lead_1)
   # Steering PID loop and lateral MPC
-  actuators.steer, actuators.steerAngle = LaC.update(active, CS.vEgo, CS.steeringAngle,
+  actuators.steer, actuators.steerAngle = LaC.update(active, CS.vEgo, CS.steeringAngle, CS.steeringRate, 
                                                      CS.steeringPressed, plan.dPoly, angle_offset, CP, VM, PL)
 
   # Send a "steering required alert" if saturation count has reached the limit

selfdrive/controls/lib/latcontrol.py

@@ -1,5 +1,8 @@
+import zmq
 import math
 import numpy as np
+import time
+import json
 from selfdrive.controls.lib.pid import PIController
 from selfdrive.controls.lib.drive_helpers import MPC_COST_LAT
 from selfdrive.controls.lib.lateral_mpc import libmpc_py
@@ -21,6 +24,14 @@ def calc_states_after_delay(states, v_ego, steer_angle, curvature_factor, steer_
 def get_steer_max(CP, v_ego):
   return interp(v_ego, CP.steerMaxBP, CP.steerMaxV)
 
+def apply_deadzone(angle, deadzone):
+  if angle > deadzone:
+    angle -= deadzone
+  elif angle < -deadzone:
+    angle += deadzone
+  else:
+    angle = 0.
+  return angle
 
 class LatControl(object):
   def __init__(self, CP):
@@ -29,6 +40,25 @@ def __init__(self, CP):
                             k_f=CP.steerKf, pos_limit=1.0)
     self.last_cloudlog_t = 0.0
     self.setup_mpc(CP.steerRateCost)
+    self.smooth_factor = 2.0 * CP.steerActuatorDelay / _DT      # Multiplier for inductive component (feed forward)
+    self.projection_factor = 5.0 * _DT                       #  Mutiplier for reactive component (PI)
+    self.accel_limit = 5.0                                 # Desired acceleration limit to prevent "whip steer" (resistive component)
+    self.ff_angle_factor = 0.5         # Kf multiplier for angle-based feed forward
+    self.ff_rate_factor = 5.0         # Kf multiplier for rate-based feed forward
+    self.ratioDelayExp = 2.0           # Exponential coefficient for variable steering rate (delay)
+    self.ratioDelayScale = 0.0          # Multiplier for variable steering rate (delay)
+    self.prev_angle_rate = 0
+    self.feed_forward = 0.0
+    self.angle_rate_desired = 0.0
+
+    # variables for dashboarding
+    self.context = zmq.Context()
+    self.steerpub = self.context.socket(zmq.PUB)
+    self.steerpub.bind("tcp://*:8594")
+    self.steerdata = ""
+    self.frames = 0
+    self.curvature_factor = 0.0
+    self.slip_factor = 0.0
 
   def setup_mpc(self, steer_rate_cost):
     self.libmpc = libmpc_py.libmpc
@@ -52,38 +82,58 @@ def setup_mpc(self, steer_rate_cost):
   def reset(self):
     self.pid.reset()
 
-  def update(self, active, v_ego, angle_steers, steer_override, d_poly, angle_offset, CP, VM, PL):
-    cur_time = sec_since_boot()
+  def update(self, active, v_ego, angle_steers, angle_rate, steer_override, d_poly, angle_offset, CP, VM, PL):
+    cur_time = sec_since_boot()    
     self.mpc_updated = False
     # TODO: this creates issues in replay when rewinding time: mpc won't run
     if self.last_mpc_ts < PL.last_md_ts:
       self.last_mpc_ts = PL.last_md_ts
       self.angle_steers_des_prev = self.angle_steers_des_mpc
 
-      curvature_factor = VM.curvature_factor(v_ego)
+      self.curvature_factor = VM.curvature_factor(v_ego)
 
-      l_poly = libmpc_py.ffi.new("double[4]", list(PL.PP.l_poly))
-      r_poly = libmpc_py.ffi.new("double[4]", list(PL.PP.r_poly))
-      p_poly = libmpc_py.ffi.new("double[4]", list(PL.PP.p_poly))
+      # This is currently disabled, but it is used to compensate for variable steering rate
+      ratioDelayFactor = 1. + self.ratioDelayScale * abs(angle_steers / 100.) ** self.ratioDelayExp
 
-      # account for actuation delay
-      self.cur_state = calc_states_after_delay(self.cur_state, v_ego, angle_steers, curvature_factor, CP.steerRatio, CP.steerActuatorDelay)
+      # Determine a proper delay time that includes the model's processing time, which is variable
+      plan_age = _DT_MPC + cur_time - float(PL.last_md_ts / 1000000000.0) 
+      total_delay = ratioDelayFactor * CP.steerActuatorDelay + plan_age
+
+      # Use steering rate from the last 2 samples to estimate acceleration for a more realistic future steering rate
+      accelerated_angle_rate = 2.0 * angle_rate - self.prev_angle_rate    
+
+      # Project the future steering angle for the actuator delay only (not model delay)
+      projected_angle_steers = ratioDelayFactor * CP.steerActuatorDelay * accelerated_angle_rate + angle_steers
+
+      self.l_poly = libmpc_py.ffi.new("double[4]", list(PL.PP.l_poly))
+      self.r_poly = libmpc_py.ffi.new("double[4]", list(PL.PP.r_poly))
+      self.p_poly = libmpc_py.ffi.new("double[4]", list(PL.PP.p_poly))
+
+      # account for actuation delay and the age of the plan
+      self.cur_state = calc_states_after_delay(self.cur_state, v_ego, projected_angle_steers, self.curvature_factor, CP.steerRatio, total_delay)
 
       v_ego_mpc = max(v_ego, 5.0)  # avoid mpc roughness due to low speed
       self.libmpc.run_mpc(self.cur_state, self.mpc_solution,
-                          l_poly, r_poly, p_poly,
-                          PL.PP.l_prob, PL.PP.r_prob, PL.PP.p_prob, curvature_factor, v_ego_mpc, PL.PP.lane_width)
+                          self.l_poly, self.r_poly, self.p_poly,
+                          PL.PP.l_prob, PL.PP.r_prob, PL.PP.p_prob, self.curvature_factor, v_ego_mpc, PL.PP.lane_width)
 
       # reset to current steer angle if not active or overriding
       if active:
+        self.isActive = 1
         delta_desired = self.mpc_solution[0].delta[1]
       else:
+        self.isActive = 0
         delta_desired = math.radians(angle_steers - angle_offset) / CP.steerRatio
 
       self.cur_state[0].delta = delta_desired
 
       self.angle_steers_des_mpc = float(math.degrees(delta_desired * CP.steerRatio) + angle_offset)
-      self.angle_steers_des_time = cur_time
+
+      # Use the model's solve time instead of cur_time
+      self.angle_steers_des_time = float(PL.last_md_ts / 1000000000.0)
+
+      # Use last 2 desired angles to determine the model's desired steer rate
+      self.angle_rate_desired = (self.angle_steers_des_mpc - self.angle_steers_des_prev) / _DT_MPC
       self.mpc_updated = True
 
       #  Check for infeasable MPC solution
@@ -97,24 +147,81 @@ def update(self, active, v_ego, angle_steers, steer_override, d_poly, angle_offs
           self.last_cloudlog_t = t
           cloudlog.warning("Lateral mpc - nan: True")
 
+    elif self.steerdata != "" and self.frames > 10:
+      self.steerpub.send(self.steerdata)
+      self.frames = 0
+      self.steerdata = ""
+
     if v_ego < 0.3 or not active:
       output_steer = 0.0
+      self.feed_forward = 0.0
       self.pid.reset()
     else:
-      # TODO: ideally we should interp, but for tuning reasons we keep the mpc solution
-      # constant for 0.05s.
-      #dt = min(cur_time - self.angle_steers_des_time, _DT_MPC + _DT) + _DT  # no greater than dt mpc + dt, to prevent too high extraps
-      #self.angle_steers_des = self.angle_steers_des_prev + (dt / _DT_MPC) * (self.angle_steers_des_mpc - self.angle_steers_des_prev)
-      self.angle_steers_des = self.angle_steers_des_mpc
+      # Interpolate desired angle between MPC updates
+      self.angle_steers_des = self.angle_steers_des_prev + self.angle_rate_desired * (cur_time - self.angle_steers_des_time)
+
+      # Determine the target steer rate for desired angle, but prevent the acceleration limit from being exceeded
+      # Restricting the steer rate creates the resistive component needed for resonance
+      restricted_steer_rate = np.clip(self.angle_steers_des - float(angle_steers) , float(angle_rate) - self.accel_limit, float(angle_rate) + self.accel_limit)
+
+      # Determine projected desired angle that is within the acceleration limit (prevent the steering wheel from jerking)
+      projected_angle_steers_des = self.angle_steers_des + self.projection_factor * restricted_steer_rate
+
+      # Determine project angle steers using current steer rate
+      projected_angle_steers = float(angle_steers) + self.projection_factor * float(angle_rate)
+
       steers_max = get_steer_max(CP, v_ego)
       self.pid.pos_limit = steers_max
       self.pid.neg_limit = -steers_max
-      steer_feedforward = self.angle_steers_des   # feedforward desired angle
+
       if CP.steerControlType == car.CarParams.SteerControlType.torque:
-        steer_feedforward *= v_ego**2  # proportional to realigning tire momentum (~ lateral accel)
+        # Decide which feed forward mode should be used (angle or rate).  Use more dominant mode, and only if conditions are met
+        # Spread feed forward out over a period of time to make it more inductive (for resonance)
+        if abs(self.ff_rate_factor * float(restricted_steer_rate)) > abs(self.ff_angle_factor * float(self.angle_steers_des) - float(angle_offset)) - 0.5 \
+            and (abs(float(restricted_steer_rate)) > abs(angle_rate) or (float(restricted_steer_rate) < 0) != (angle_rate < 0)) \
+            and (float(restricted_steer_rate) < 0) == (float(self.angle_steers_des) - float(angle_offset) - 0.5 < 0):
+          ff_type = "r"
+          self.feed_forward = (((self.smooth_factor - 1.) * self.feed_forward) + self.ff_rate_factor * v_ego**2 * float(restricted_steer_rate)) / self.smooth_factor  
+        elif abs(self.angle_steers_des - float(angle_offset)) > 0.5:
+          ff_type = "a"
+          self.feed_forward = (((self.smooth_factor - 1.) * self.feed_forward) + self.ff_angle_factor * v_ego**2 * float(apply_deadzone(float(self.angle_steers_des) - float(angle_offset), 0.5))) / self.smooth_factor  
+        else:
+          ff_type = "r"
+          self.feed_forward = (((self.smooth_factor - 1.) * self.feed_forward) + 0.0) / self.smooth_factor  
+      else:
+        self.feed_forward = self.angle_steers_des_mpc   # feedforward desired angle
       deadzone = 0.0
-      output_steer = self.pid.update(self.angle_steers_des, angle_steers, check_saturation=(v_ego > 10), override=steer_override,
-                                     feedforward=steer_feedforward, speed=v_ego, deadzone=deadzone)
+
+      # Use projected desired and actual angles instead of "current" values, in order to make PI more reactive (for resonance)
+      output_steer = self.pid.update(projected_angle_steers_des, projected_angle_steers, check_saturation=(v_ego > 10), override=steer_override,
+                                     feedforward=self.feed_forward, speed=v_ego, deadzone=deadzone)
+
+
+      # All but the last 3 lines after here are for real-time dashboarding
+      self.pCost = 0.0
+      self.lCost = 0.0
+      self.rCost = 0.0
+      self.hCost = 0.0
+      self.srCost = 0.0
+      self.last_ff_a = 0.0
+      self.last_ff_r = 0.0
+      self.center_angle = 0.0
+      self.steer_zero_crossing = 0.0
+      self.steer_rate_cost = 0.0
+      self.avg_angle_rate = 0.0
+      self.angle_rate_count = 0.0
+      driver_torque = 0.0     
+      steer_motor = 0.0
+      self.frames += 1
+
+      self.steerdata += ("%d,%s,%d,%d,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%d|" % (self.isActive, \
+      ff_type, 1 if ff_type == "a" else 0, 1 if ff_type == "r" else 0, self.cur_state[0].x, self.cur_state[0].y, self.cur_state[0].psi, self.cur_state[0].delta, self.cur_state[0].t, self.curvature_factor, self.slip_factor ,self.smooth_factor, self.accel_limit, float(restricted_steer_rate) ,self.ff_angle_factor, self.ff_rate_factor, self.pCost, self.lCost, self.rCost, self.hCost, self.srCost, steer_motor, float(driver_torque), \
+      self.angle_rate_count, self.angle_rate_desired, self.avg_angle_rate, projected_angle_steers, float(angle_rate), self.steer_zero_crossing, self.center_angle, angle_steers, self.angle_steers_des, angle_offset, \
+      self.angle_steers_des_mpc, CP.steerRatio, CP.steerKf, CP.steerKpV[0], CP.steerKiV[0], CP.steerRateCost, PL.PP.l_prob, \
+      PL.PP.r_prob, PL.PP.c_prob, PL.PP.p_prob, self.l_poly[0], self.l_poly[1], self.l_poly[2], self.l_poly[3], self.r_poly[0], self.r_poly[1], self.r_poly[2], self.r_poly[3], \
+      self.p_poly[0], self.p_poly[1], self.p_poly[2], self.p_poly[3], PL.PP.c_poly[0], PL.PP.c_poly[1], PL.PP.c_poly[2], PL.PP.c_poly[3], PL.PP.d_poly[0], PL.PP.d_poly[1], \
+      PL.PP.d_poly[2], PL.PP.lane_width, PL.PP.lane_width_estimate, PL.PP.lane_width_certainty, v_ego, self.pid.p, self.pid.i, self.pid.f, int(time.time() * 100) * 10000000))
 
     self.sat_flag = self.pid.saturated
+    self.prev_angle_rate = angle_rate
     return output_steer, float(self.angle_steers_des)