IQ.Lvbs/IQ.Pilot
8
7
Fork 2
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

IQ.Pilot Release Commit @ 1399ceb

Browse Source
This commit is contained in:
IQ.Lvbs CI [bot]
2026-08-26 00:54:03 -05:00
parent 31a37f5a3c
commit 0d844a5ca2
31 changed files with 227 additions and 56 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
iqpilot/selfdrive/controls/controlsd.py
View File

@@ -22,6 +22,7 @@ from iqpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
from iqpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
from iqpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
from iqpilot.selfdrive.controls.lib.latcontrol_torque_pq import LatControlTorquePQ
from iqpilot.selfdrive.controls.lib.latcontrol_torque_v0 import LatControlTorqueV0, is_vw_mqb_torque
from iqpilot.selfdrive.controls.lib.longcontrol import LongControl
from iqpilot.system.proprietary_runtime._verified_import import import_verified_module
from iqpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
@@ -111,12 +112,20 @@ class Controls(IQControlsLayer):
elif self.CP.lateralTuning.which() == 'pid':
self.LaC = LatControlPID(self.CP, self.CP_IQ, self.CI, DT_CTRL)
elif self.CP.lateralTuning.which() == 'torque':
self.LaC = LatControlTorque(self.CP, self.CP_IQ, self.CI, DT_CTRL)
if self._use_pq_torque():
try:
self.LaC = LatControlTorquePQ(self.CP, self.CP_IQ, self.CI, DT_CTRL)
except Exception:
cloudlog.exception("LatControlTorquePQ init failed; using generic torque")
self.LaC = LatControlTorque(self.CP, self.CP_IQ, self.CI, DT_CTRL)
elif self._use_mqb_torque_v0():
try:
self.LaC = LatControlTorqueV0(self.CP, self.CP_IQ, self.CI, DT_CTRL)
except Exception:
cloudlog.exception("LatControlTorqueV0 init failed; using generic torque")
self.LaC = LatControlTorque(self.CP, self.CP_IQ, self.CI, DT_CTRL)
else:
self.LaC = LatControlTorque(self.CP, self.CP_IQ, self.CI, DT_CTRL)
def _use_pq_torque(self) -> bool:
try:
@@ -128,6 +137,13 @@ class Controls(IQControlsLayer):
cloudlog.exception("pq torque selection failed; using generic torque")
return False
def _use_mqb_torque_v0(self) -> bool:
try:
return is_vw_mqb_torque(self.CP)
except Exception:
cloudlog.exception("mqb torque v0 selection failed; using generic torque")
return False
def _update_params(self) -> None:
self.enable_curvature_controller = self.params.get_bool("EnableCurvatureController")
self.enable_smooth_steer = self.params.get_bool("EnableSmoothSteer")
@@ -320,7 +336,7 @@ class Controls(IQControlsLayer):
hudControl.leftLaneDepart = self.sm['driverAssistance'].leftLaneDeparture
hudControl.rightLaneDepart = self.sm['driverAssistance'].rightLaneDeparture
if self.sm['selfdriveState'].active:
if CC.latActive:
CO = self.sm['carOutput']
if self.CP.steerControlType in (car.CarParams.SteerControlType.angle, car.CarParams.SteerControlType.curvatureDEPRECATED):
self.steer_limited_by_safety = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \