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IQ.Pilot Release Commit @ 4521b0f

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IQ.Lvbs CI [bot]
2026-08-22 10:38:43 -05:00
parent e142a0001a
commit 11cefcb266
29 changed files with 822 additions and 111 deletions
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12
iqpilot/selfdrive/controls/controlsd.py
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@@ -13,7 +13,7 @@ from iqpilot.common.swaglog import cloudlog
from iqdbc.car.car_helpers import interfaces
from iqdbc.car.vehicle_model import VehicleModel
from iqpilot.common.steer_delay import resolve_steer_delay
from iqpilot.common.steer_delay import lateral_action_delay
from iqpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
from iqpilot.selfdrive.controls.lib.curvature_lookahead import get_lookahead_curvature
from iqpilot.selfdrive.controls.lib.latcontrol import LatControl
@@ -227,15 +227,7 @@ class Controls(IQControlsLayer):
lat_accel_override = bool(CS.gasPressed) or bool(self.sm['iqState'].aol.active)
self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, new_desired_curvature, lp.roll, lat_accel_override)
# ALC (angle control) only: honour IQLiveSteerDelay so that with live learning off, lagd's
# estimate never reaches the controls loop and CP.steerActuatorDelay is used instead. lagd
# cross-correlates against localizer lateral accel, so it reports whole-vehicle response
# (~0.36 s measured on VW MQB) where the lookahead wants actuator delay (~0.10 s).
# Torque cars keep their existing path.
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
lat_delay = resolve_steer_delay(self.params, self.CP.steerActuatorDelay) + LAT_SMOOTH_SECONDS
else:
lat_delay = self.sm["lateralDelay"].lateralDelay + LAT_SMOOTH_SECONDS
lat_delay = lateral_action_delay(self.params, self.CP, self.sm["lateralDelay"].lateralDelay) + LAT_SMOOTH_SECONDS
lookahead_curvature = None
if not self.sm.valid['lateralManeuverPlan']:
lookahead_curvature = get_lookahead_curvature(model_v2, CS.vEgo, lat_delay)

3
iqpilot/selfdrive/controls/iq_controls_layer.py
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@@ -14,7 +14,6 @@ from iqdbc.car import structs
from iqpilot.common.constants import CV
from iqpilot.common.params import Params
from iqpilot.common.swaglog import cloudlog
from iqpilot.common.steer_delay import resolve_steer_delay
from iqpilot.selfdrive.car.enhanced_stock_longitudinal_control import build_iq_control_params_from_plan
from iqpilot.selfdrive.iqmodeld.models.inference_state import InferenceStateBase
from iqpilot.selfdrive.controls.lib.helpers.blinker_pause import IQSignalPauseController
@@ -60,7 +59,7 @@ class IQControlsLayer(InferenceStateBase):
return
self.blinker_pause_lateral.get_params()
if self.CP.lateralTuning.which() == 'torque':
self.lat_delay = resolve_steer_delay(self.params, sm["lateralDelay"].lateralDelay)
self.lat_delay = sm["lateralDelay"].lateralDelay
self._sync_set_speed = self._want_set_speed_to_limit()
self.radar_manager.read_params()
self._next_param_refresh = now