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Add angular rates carcontroller packet #23980

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merged 4 commits into from
Mar 17, 2022
Merged

Add angular rates carcontroller packet #23980

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0ebc868
Controlsd: give carcontroller angular rates
haraschax Mar 17, 2022
d344ae0
Update cereal
haraschax Mar 17, 2022
61bac23
Needs to be list
haraschax Mar 17, 2022
d595a0d
Update refs
haraschax Mar 17, 2022
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2 changes: 1 addition & 1 deletion cereal
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Submodule cereal updated from 64b601 to 85406f
10 changes: 7 additions & 3 deletions selfdrive/controls/controlsd.py
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Original file line number Diff line number Diff line change
Expand Up @@ -572,10 +572,14 @@ def update_button_timers(self, buttonEvents):
def publish_logs(self, CS, start_time, CC, lac_log):
"""Send actuators and hud commands to the car, send controlsstate and MPC logging"""

orientation_value = self.sm['liveLocationKalman'].orientationNED.value
# Orientation and angle rates can be useful for carcontroller
# Only calibrated (car) frame is relevant for the carcontroller
orientation_value = list(self.sm['liveLocationKalman'].calibratedOrientationNED.value)
if len(orientation_value) > 2:
CC.roll = orientation_value[0]
CC.pitch = orientation_value[1]
CC.orientationNED = orientation_value
angular_rate_value = list(self.sm['liveLocationKalman'].angularVelocityCalibrated.value)
if len(angular_rate_value) > 2:
CC.angularVelocity = angular_rate_value

CC.cruiseControl.cancel = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise)
if self.joystick_mode and self.sm.rcv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
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2 changes: 1 addition & 1 deletion selfdrive/test/process_replay/ref_commit
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Original file line number Diff line number Diff line change
@@ -1 +1 @@
927918307b45657df0a4ac0255c3e8e3dc62d7cd
61bac237e228da19e59d456c883f99a92172d217