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plotjuggler: plotjuggler: tuning layout w/ cruise setpoint, use carControl.enable not carControl.active #22908

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merged 2 commits into from
Nov 15, 2021
Merged

plotjuggler: plotjuggler: tuning layout w/ cruise setpoint, use carControl.enable not carControl.active #22908

merged 2 commits into from
Nov 15, 2021

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hewers
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@hewers hewers commented Nov 14, 2021

Description

Walked through all tuning scenarios with a test route and found improvements:

  • Longitudinal scenarios ask for large step-change in setpoint, so cruise setpoint is added to velocity graph.
  • Found that carControl.active is recent, so some older / demo routes default to 0. Use carControl.enable in its place. Active intends to be "actuators are active", where "enabled" is that autonomy is engaged, I think.

Verification

./juggle.py "4cf7a6ad03080c90|2021-09-29--13-46-36" --layout=layouts/tuning.xml

image
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@hewers hewers changed the title [PlotJuggler] Add cruise setpoint, use carControl.enable not carControl.active [PlotJuggler] tuning layout: add cruise setpoint, use carControl.enable not carControl.active Nov 14, 2021
@hewers
use vEgo for longitudinal (as used by the controller) and use liveLoc…
54adcb5 
…ationKalman calibrated velocity for curvature
@hewers hewers changed the title [PlotJuggler] tuning layout: add cruise setpoint, use carControl.enable not carControl.active plotjuggler: tuning layout w/ cruise setpoint, use carControl.enable not carControl.active Nov 15, 2021
@pd0wm pd0wm added the tools label Nov 15, 2021
@adeebshihadeh adeebshihadeh changed the title plotjuggler: tuning layout w/ cruise setpoint, use carControl.enable not carControl.active plotjuggler: plotjuggler: tuning layout w/ cruise setpoint, use carControl.enable not carControl.active Nov 15, 2021
@adeebshihadeh adeebshihadeh merged commit 5f2c7ad into commaai:master Nov 15, 2021
@hewers hewers deleted the plotjuggler-tuning-scenarios branch July 25, 2022 05:21
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@hewers @pd0wm @adeebshihadeh