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long maneuvers https://github.com/commaai/openpilot/issues/26778 #1

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long maneuvers https://github.com/commaai/openpilot/issues/26778 #1

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c1515e8
long maneuvers https://github.com/commaai/openpilot/issues/26778
nonegan Dec 13, 2022
2fdcedd
start maneuvering
nonegan Dec 13, 2022
6b6bd2f
start maneuver controller and communication for start/stop/request
nonegan Dec 13, 2022
272767c
untested
nonegan Dec 13, 2022
4e20e32
long planner and script to start
nonegan Dec 13, 2022
2c05dd6
make
nonegan Dec 13, 2022
ba537ea
next steps
Dec 16, 2022
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ntegan1 committed Dec 16, 2022
commit ba537ea705e4195ae872a3900c4740505b4addf6
7 changes: 7 additions & 0 deletions selfdrive/controls/controlsd.py
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Original file line number Diff line number Diff line change
Expand Up @@ -596,6 +596,13 @@ def state_control(self, CS):
# accel PID loop
pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS)
t_since_plan = (self.sm.frame - self.sm.rcv_frame['longitudinalPlan']) * DT_CTRL

## TODO
# when starting a maneuver
self.LoC.reset(v_pid=CS.vEgo) #vpid = vego or first point in plan

# fill planfrom maneuver

actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan)

# Steering PID loop and lateral MPC
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1 change: 1 addition & 0 deletions tools/joystick/maneuver/__init__.py
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Expand Up @@ -90,6 +90,7 @@ def __points_to_interpables(self):
conversion = conversions[unit]
for point in self.object["points"]:
times.append(float(point[0]))
# TODO calculate accels as slopes of speedss
speeds_kph.append(float(point[1]) * conversion)
self.times = times
self.speeds = speeds_kph
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