Code

Torque control with roll#24260

Code

Merged

haraschax merged 47 commits intomastercommaai/openpilot:masterfrom torque_control_with_rollcommaai/openpilot:torque_control_with_rollCopy head branch name to clipboardApr 20, 2022

+120-123

Commits

Commits on Apr 20, 2022

• Initial commit

  

  haraschax

  authored and

  adeebshihadeh

  committed
  8924256

  Copy full SHA for 8924256

• Fix bugs

  

  haraschax

  authored and

  adeebshihadeh

  committed
  b3dd3d6

  Copy full SHA for b3dd3d6

• Need more torque rate

  

  haraschax

  authored and

  adeebshihadeh

  committed
  6ea2248

  Copy full SHA for 6ea2248

• Cleanup cray cray control

  

  haraschax

  authored and

  adeebshihadeh

  committed
  2ae0203

  Copy full SHA for 2ae0203

• Write nicely

  

  haraschax

  authored and

  adeebshihadeh

  committed
  50b1091

  Copy full SHA for 50b1091

• Chiiil

  

  haraschax

  authored and

  adeebshihadeh

  committed
  9edfd4c

  Copy full SHA for 9edfd4c

• Not relevant for cray cray control

  

  haraschax

  authored and

  adeebshihadeh

  committed
  d71778f

  Copy full SHA for d71778f

• Do some logging

  

  haraschax

  authored and

  adeebshihadeh

  committed
  2b4d458

  Copy full SHA for 2b4d458

• Seems like it has more torque than I thought

  

  haraschax

  authored and

  adeebshihadeh

  committed
  394a665

  Copy full SHA for 394a665

• Bit more feedforward

  

  haraschax

  authored and

  adeebshihadeh

  committed
  b99eba1

  Copy full SHA for b99eba1

• Tune change

  

  haraschax

  authored and

  adeebshihadeh

  committed
  b66ba3f

  Copy full SHA for b66ba3f

• Retune

  

  haraschax

  authored and

  adeebshihadeh

  committed
  f1d3d03

  Copy full SHA for f1d3d03

• Retune

  

  haraschax

  authored and

  adeebshihadeh

  committed
  bb126b9

  Copy full SHA for bb126b9

• Little more chill

  

  haraschax

  authored and

  adeebshihadeh

  committed
  44e95fb

  Copy full SHA for 44e95fb

• Add coroll

  

  haraschax

  authored and

  adeebshihadeh

  committed
  915a091

  Copy full SHA for 915a091

• Add corolla

  

  haraschax

  authored and

  adeebshihadeh

  committed
  14448e8

  Copy full SHA for 14448e8

• Give craycray a good name

  

  haraschax

  authored and

  adeebshihadeh

  committed
  f8cf85e

  Copy full SHA for f8cf85e

• Update to proper logging

  

  haraschax

  authored and

  adeebshihadeh

  committed
  8ab7b42

  Copy full SHA for 8ab7b42

• D to the PI

  

  haraschax

  authored and

  adeebshihadeh

  committed
  75b1a14

  Copy full SHA for 75b1a14

• Should be in radians

  

  haraschax

  authored and

  adeebshihadeh

  committed
  8d72fec

  Copy full SHA for 8d72fec

• Add d

  

  haraschax

  authored and

  adeebshihadeh

  committed
  f56ae3d

  Copy full SHA for f56ae3d

• Start oscillations

  

  haraschax

  authored and

  adeebshihadeh

  committed
  9f1aa5d

  Copy full SHA for 9f1aa5d

• Add D term

  

  haraschax

  authored and

  adeebshihadeh

  committed
  26a1a4a

  Copy full SHA for 26a1a4a

• Only change torque rate limits for new tune

  

  haraschax

  authored and

  adeebshihadeh

  committed
  47d5e00

  Copy full SHA for 47d5e00

• Add d logging

  

  haraschax

  authored and

  adeebshihadeh

  committed
  897a492

  Copy full SHA for 897a492

• Should be enough

  

  haraschax

  authored and

  adeebshihadeh

  committed
  b6788b8

  Copy full SHA for b6788b8

• Wrong sign in D

  

  haraschax

  authored and

  adeebshihadeh

  committed
  ba64fb5

  Copy full SHA for ba64fb5

• Downtune a little

  

  haraschax

  authored and

  adeebshihadeh

  committed
  a9de81e

  Copy full SHA for a9de81e

• Needed to prevent faults

  

  haraschax

  authored and

  adeebshihadeh

  committed
  297b323

  Copy full SHA for 297b323

• Add lqr rav4 to tune

  

  haraschax

  authored and

  adeebshihadeh

  committed
  3c8b10a

  Copy full SHA for 3c8b10a

• Try derivative again

  

  haraschax

  authored and

  adeebshihadeh

  committed
  687aece

  Copy full SHA for 687aece

• Data based retune

  

  haraschax

  authored and

  adeebshihadeh

  committed
  e423427

  Copy full SHA for e423427

• Data based retune

  

  haraschax

  authored and

  adeebshihadeh

  committed
  556f80b

  Copy full SHA for 556f80b

• add friction compensation

  

  haraschax

  authored and

  adeebshihadeh

  committed
  81779e7

  Copy full SHA for 81779e7

• Doesnt need too much P with friction comp

  

  haraschax

  authored and

  adeebshihadeh

  committed
  630d080

  Copy full SHA for 630d080

• remove lqr

  

  haraschax

  authored and

  adeebshihadeh

  committed
  7c5efbd

  Copy full SHA for 7c5efbd

• Remove kd

  

  haraschax

  authored and

  adeebshihadeh

  committed
  2be961e

  Copy full SHA for 2be961e

• Fix tests

  

  haraschax

  authored and

  adeebshihadeh

  committed
  b813950

  Copy full SHA for b813950

• fix tests

  

  haraschax

  authored and

  adeebshihadeh

  committed
  2cb06af

  Copy full SHA for 2cb06af

• Too much error

  

  haraschax

  authored and

  adeebshihadeh

  committed
  b2f82ef

  Copy full SHA for b2f82ef

• Get roll induced error under 1cm/deg

  

  haraschax

  authored and

  adeebshihadeh

  committed
  bc83831

  Copy full SHA for bc83831

• Too much jitter

  

  haraschax

  authored and

  adeebshihadeh

  committed
  38b5bf5

  Copy full SHA for 38b5bf5

• Do roll comp

  

  haraschax

  authored and

  adeebshihadeh

  committed
  eb7b1c9

  Copy full SHA for eb7b1c9

• Add ki

  

  haraschax

  authored and

  adeebshihadeh

  committed
  66142df

  Copy full SHA for 66142df

• Final update

  

  haraschax

  authored and

  adeebshihadeh

  committed
  85bc0f4

  Copy full SHA for 85bc0f4

• Update refs

  

  haraschax

  authored and

  adeebshihadeh

  committed
  9773f53

  Copy full SHA for 9773f53

• Cleanup latcontrol_torque a little more

  

  haraschax

  authored and

  adeebshihadeh

  committed
  ec323cb

  Copy full SHA for ec323cb