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LatControlTorque: clean up class variable #24526

Merged
merged 6 commits into from
May 13, 2022
Merged

LatControlTorque: clean up class variable #24526

merged 6 commits into from
May 13, 2022

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ClockeNessMnstr
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just moving the self assignments to the superclass which is already called with CI/CP

@ClockeNessMnstr
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ClockeNessMnstr commented May 13, 2022 •
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Yes, CI is not in super, self.CP and self.CI isn't used in any child classes

Could probably just remove the self.CP = CP in torque. Edit: saved self.kf instead.

@sshane
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sshane commented May 13, 2022 •
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If you subclass, your init signature must be the same. The angle subclass doesn't have an init function for example and controlsd always passes both CP and CI

@sshane sshane changed the title cleanup self.CI/CP assignment in latcontrol.py LatControlTorque: clean up class variable May 13, 2022
@sshane sshane merged commit a693b3a into commaai:master May 13, 2022
spektor56 pushed a commit to spektor56/ghostpilot that referenced this pull request May 14, 2022
@ClockeNessMnstr @sshane @spektor56
LatControlTorque: clean up class variable (commaai#24526)
43dd844 
* move to super

* no class variable

* there's CP

* whitespace

* drop CI from latcontrol super

* Revert "drop CI from latcontrol super"

This reverts commit 9218273.

Co-authored-by: Shane Smiskol <shane@smiskol.com>
spektor56 pushed a commit to spektor56/ghostpilot that referenced this pull request May 17, 2022
@ClockeNessMnstr @sshane @spektor56
LatControlTorque: clean up class variable (commaai#24526)
9f94c8c 
* move to super

* no class variable

* there's CP

* whitespace

* drop CI from latcontrol super

* Revert "drop CI from latcontrol super"

This reverts commit 9218273.

Co-authored-by: Shane Smiskol <shane@smiskol.com>
spektor56 pushed a commit to spektor56/ghostpilot that referenced this pull request May 17, 2022
@ClockeNessMnstr @sshane @spektor56
LatControlTorque: clean up class variable (commaai#24526)
20fe737 
* move to super

* no class variable

* there's CP

* whitespace

* drop CI from latcontrol super

* Revert "drop CI from latcontrol super"

This reverts commit 9218273.

Co-authored-by: Shane Smiskol <shane@smiskol.com>
@ClockeNessMnstr ClockeNessMnstr deleted the CP-CI branch May 18, 2022 22:11
rjsmith1999 pushed a commit to rjsmith1999/openpilot that referenced this pull request Jun 6, 2022
@ClockeNessMnstr @rjsmith1999
LatControlTorque: clean up class variable (commaai#24526)
55c0d86 
* move to super

* no class variable

* there's CP

* whitespace

* drop CI from latcontrol super

* Revert "drop CI from latcontrol super"

This reverts commit 9218273.

Co-authored-by: Shane Smiskol <shane@smiskol.com>
(cherry picked from commit a693b3a)
rjsmith1999 pushed a commit to rjsmith1999/openpilot that referenced this pull request Jun 8, 2022
@ClockeNessMnstr @rjsmith1999
LatControlTorque: clean up class variable (commaai#24526)
7e93faf 
* move to super

* no class variable

* there's CP

* whitespace

* drop CI from latcontrol super

* Revert "drop CI from latcontrol super"

This reverts commit 9218273.

Co-authored-by: Shane Smiskol <shane@smiskol.com>
(cherry picked from commit a693b3a)
ntegan1 pushed a commit to ntegan1/apilot that referenced this pull request Jun 16, 2022
@ClockeNessMnstr @sshane @ntegan1
LatControlTorque: clean up class variable (commaai#24526)
24225e6 
* move to super

* no class variable

* there's CP

* whitespace

* drop CI from latcontrol super

* Revert "drop CI from latcontrol super"

This reverts commit 9218273.

Co-authored-by: Shane Smiskol <shane@smiskol.com>
rjsmith1999 pushed a commit to rjsmith1999/openpilot that referenced this pull request Jun 27, 2022
@ClockeNessMnstr @sshane @rjsmith1999
LatControlTorque: clean up class variable (commaai#24526)
9221f3f 
* move to super

* no class variable

* there's CP

* whitespace

* drop CI from latcontrol super

* Revert "drop CI from latcontrol super"

This reverts commit 9218273.

Co-authored-by: Shane Smiskol <shane@smiskol.com>
rjsmith1999 added a commit to rjsmith1999/openpilot that referenced this pull request Jun 27, 2022
@rjsmith1999
[controls] Squashed commit of the following:
d95a6a9 
commit d066702
Author: ClockeNessMnstr <locke.dftc@gmail.com>
Date:   Tue Jun 7 12:41:03 2022 -0400

    update DH names + notes for MPC output curvatures (commaai#24701)

    * update names + notes for MPC outputs

    "current_curvature" is not the correct description of what the MPC is outputting in it's curvature_ego state.
    The MPC is integrating it's free variable, curvature_rate, such that curvature[0] is actually the desired_curvature before any delay.
    inversely: the curvature_rate_desired is the desired rate of change to the setpoint and not the actual curvature rate.

    If we were to set the initial curvature = measured curvature in the MPC initiation these names would be correct.
    This was possibly how it was initially set up but the nomenclature here is now confusing.

    * more notes

    * match

    * Clarify commaai#1

commit cb82478
Author: HaraldSchafer <harald.the.engineer@gmail.com>
Date:   Fri May 27 10:21:02 2022 -0700

    Tssp prius torque control (commaai#24669)

    * use llk

    * use steering sensor at low speed stil

    * Try more simple

    * rm prius tune

    * updated ref

commit f1f7a0b
Author: HaraldSchafer <harald.the.engineer@gmail.com>
Date:   Tue May 24 17:52:33 2022 -0700

    Rerevert torque control (commaai#24649)

    * Revert "Revert torque control (commaai#24565)"

    This reverts commit 9f8b037.

    * Move tune out of car specific stuff

    * Update ref commit

commit 041c255
Author: HaraldSchafer <harald.the.engineer@gmail.com>
Date:   Tue May 17 19:00:57 2022 -0700

    Revert torque control (commaai#24565)

    * torque reversal start

    * Fix carmodel tests

    * Update ref

    * update ref

    * Elif is better than if

commit 14f5dab
Author: HaraldSchafer <harald.the.engineer@gmail.com>
Date:   Fri May 20 13:50:47 2022 -0700

    Latcontrol torque: integrator need not be reset (commaai#24606)

    slow integrators need not be reset

commit 9221f3f
Author: ClockeNessMnstr <locke.dftc@gmail.com>
Date:   Fri May 13 19:52:20 2022 -0400

    LatControlTorque: clean up class variable (commaai#24526)

    * move to super

    * no class variable

    * there's CP

    * whitespace

    * drop CI from latcontrol super

    * Revert "drop CI from latcontrol super"

    This reverts commit 9218273.

    Co-authored-by: Shane Smiskol <shane@smiskol.com>

commit efb4dbd
Author: HaraldSchafer <harald.the.engineer@gmail.com>
Date:   Fri May 6 22:17:21 2022 -0700

    Latcontrol torque: fix integrator induced ping pong (commaai#24458)

    * Latcontrol torque: fix integrator induced ping pong

    * Reset on disengage since unwind resets anywayh

    * Might be overkill

    * rm whitespace

    * update ref

commit d105ae2
Author: HaraldSchafer <harald.the.engineer@gmail.com>
Date:   Mon May 2 14:42:18 2022 -0700

    Latcontrol torque: update tuning (commaai#24357)

    * Little more chill

    * Update ref

    * Update refs

commit 0ce2b58
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Apr 28 00:42:52 2022 -0700

    Clean up controllers (commaai#24340)

    * clean up lat controllers

    * pass CP once

    * sort

commit 47b162c
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Apr 27 01:18:05 2022 -0700

    LatControlTorque: fix deadzone and missing steer saturated warning (commaai#24294)

    * fix steer saturated alert and deadzone

    * fix and formatting

    * update refs

    * update refs

    * not needed

    * remove

commit 51a7ef2
Author: HaraldSchafer <harald.the.engineer@gmail.com>
Date:   Wed Apr 20 11:26:24 2022 -0700

    Latcontrol torque: max_torque rename (commaai#24265)

commit 33e00f6
Author: HaraldSchafer <harald.the.engineer@gmail.com>
Date:   Tue Apr 19 19:34:31 2022 -0700

    Lateral torque-based control with roll on TSS2 corolla and TSSP rav4 (commaai#24260)

    * Initial commit

    * Fix bugs

    * Need more torque rate

    * Cleanup cray cray control

    * Write nicely

    * Chiiil

    * Not relevant for cray cray control

    * Do some logging

    * Seems like it has more torque than I thought

    * Bit more feedforward

    * Tune change

    * Retune

    * Retune

    * Little more chill

    * Add coroll

    * Add corolla

    * Give craycray a good name

    * Update to proper logging

    * D to the PI

    * Should be in radians

    * Add d

    * Start oscillations

    * Add D term

    * Only change torque rate limits for new tune

    * Add d logging

    * Should be enough

    * Wrong sign in D

    * Downtune a little

    * Needed to prevent faults

    * Add lqr rav4 to tune

    * Try derivative again

    * Data based retune

    * Data based retune

    * add friction compensation

    * Doesnt need too much P with friction comp

    * remove lqr

    * Remove kd

    * Fix tests

    * fix tests

    * Too much error

    * Get roll induced error under 1cm/deg

    * Too much jitter

    * Do roll comp

    * Add ki

    * Final update

    * Update refs

    * Cleanup latcontrol_torque a little more
ntegan1 pushed a commit to ntegan1/apilot that referenced this pull request Jul 12, 2022
@ClockeNessMnstr @sshane @ntegan1
LatControlTorque: clean up class variable (commaai#24526)
dd31ef8 
* move to super

* no class variable

* there's CP

* whitespace

* drop CI from latcontrol super

* Revert "drop CI from latcontrol super"

This reverts commit 9218273.

Co-authored-by: Shane Smiskol <shane@smiskol.com>
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3 participants
@ClockeNessMnstr @sshane @herman5