IQ.Lvbs/IQ.Pilot
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IQ.Pilot Release Commit @ e46d557

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IQ.Lvbs CI [bot]
2026-08-07 00:13:39 -05:00
parent 03c3158b81
commit 824bb9ddfd
216 changed files with 7457 additions and 3151 deletions
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7
selfdrive/controls/controlsd.py
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@@ -168,8 +168,11 @@ class Controls(IQControlsLayer):
CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
(not standstill or self.CP.steerAtStandstill)
# long control may stay active through a gas override on platforms that opt in
override_longitudinal = any(e.overrideLongitudinal for e in self.sm['onroadEvents'])
long_through_override = self.CP_IQ.longActiveWithGasOverride and self.CP.openpilotLongitudinalControl
CC.longActive = CC.enabled and not getattr(CS, 'cruiseFaultLateralMode', False) and \
not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and \
(not override_longitudinal or long_through_override) and \
(self.CP.openpilotLongitudinalControl or not self.CP_IQ.pcmCruiseSpeed)
actuators = CC.actuators
@@ -184,7 +187,7 @@ class Controls(IQControlsLayer):
# accel PID loop
pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, self.CP_IQ, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits,
long_plan.leadDistance, long_plan.hasLead))
long_plan.leadDistance, long_plan.hasLead, gas_override=override_longitudinal))
# Steering PID loop and lateral MPC
# Reset desired curvature to current to avoid violating the limits on engage

9
selfdrive/controls/lib/longcontrol.py
View File

@@ -53,7 +53,7 @@ class LongControl:
def reset(self):
self.pid.reset()
def update(self, active, CS, a_target, should_stop, accel_limits, lead_distance=0.0, has_lead=False):
def update(self, active, CS, a_target, should_stop, accel_limits, lead_distance=0.0, has_lead=False, gas_override=False):
"""Update longitudinal control. This updates the state machine and runs a PID loop"""
self.pid.neg_limit = accel_limits[0]
self.pid.pos_limit = accel_limits[1]
@@ -87,8 +87,13 @@ class LongControl:
else:
error = a_target - CS.aEgo
output_accel = self.pid.update(error, speed=CS.vEgo,
feedforward=a_target)
feedforward=a_target,
freeze_integrator=gas_override)
self.smooth.reset()
if gas_override:
# safety blocks braking while the gas is pressed, and a blocked tx drops the whole frame
output_accel = max(output_accel, 0.0)
self.last_output_accel = np.clip(output_accel, accel_limits[0], accel_limits[1])
return self.last_output_accel