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IQ.Pilot Release Commit @ 24db8ae

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IQ.Lvbs CI [bot]
2026-08-25 22:13:17 -05:00
parent 2f0ec679ec
commit 31a37f5a3c
67 changed files with 6134 additions and 137 deletions
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5
iqpilot/selfdrive/controls/controlsd.py
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@@ -48,6 +48,7 @@ CTRL_FLAG_MISSING_INPUTS = 1 << 0
CTRL_FLAG_RK_OVERRUN = 1 << 1
SMOOTH_STEER_W0 = 46.0
SMOOTH_STEER_ZETA = 1.0
SMOOTH_STEER_HOLD_FRAMES = 50
LAT_SMOOTH_SECONDS = 0.0
@@ -100,6 +101,7 @@ class Controls(IQControlsLayer):
self.VM = VehicleModel(self.CP)
self.smooth_steer = PT2Filter(SMOOTH_STEER_W0, SMOOTH_STEER_ZETA, DT_CTRL)
self.smooth_steer_inactive_frames = SMOOTH_STEER_HOLD_FRAMES
self.is_curvature_car = self.CP.steerControlType == car.CarParams.SteerControlType.curvatureDEPRECATED
if self.is_curvature_car and self.params.get("EnableSmoothSteer") is None:
self.params.put_bool("EnableSmoothSteer", True)
@@ -235,7 +237,8 @@ class Controls(IQControlsLayer):
else:
new_desired_curvature = model_v2.action.desiredCurvature
if self.is_curvature_car and self.enable_smooth_steer and CC.latActive:
self.smooth_steer_inactive_frames = 0 if CC.latActive else self.smooth_steer_inactive_frames + 1
if self.is_curvature_car and self.enable_smooth_steer and self.smooth_steer_inactive_frames < SMOOTH_STEER_HOLD_FRAMES:
new_desired_curvature = self.smooth_steer.update(new_desired_curvature)
else:
self.smooth_steer.reset(new_desired_curvature)