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Steering controller retune #202

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merged 5 commits into from
Jun 2, 2024
Merged

Steering controller retune #202

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16ea2a8
set new steering inner loop gains
jcirce Jun 2, 2024
0a777c5
set new upper and lower limit for velocity
jcirce Jun 2, 2024
a84411b
correct inner loop angle inputs
jcirce Jun 2, 2024
c54d886
set minimum controller velocity to enable output
jcirce Jun 2, 2024
8a41e95
modify steering gains over CAN
jcirce Jun 2, 2024
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11 changes: 11 additions & 0 deletions can/network.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -314,6 +314,10 @@ nodes:
from_template: PIDGains
id: 0x778

- SetSTEERGains:
from_template: PIDGains
id: 0x779

- SteeringCommand:
id: 0x21
cycletime: 10
Expand Down Expand Up @@ -490,6 +494,7 @@ nodes:
- STEER:
rx:
- DBW_ESTOP
- DBW_SetSTEERGains
- DBW_SteeringCommand
- ODRIVE_Status
- SUP_Authorization
Expand Down Expand Up @@ -608,6 +613,12 @@ nodes:
- READY
- CALIBRATING
- NEEDS_CALIBRATION

- SteeringGains:
from_template: PIDGains
id: 0x251
cycletime: 10

- STEERBL:
rx:
- UPD_IsoTpTx_STEER
Expand Down
46 changes: 36 additions & 10 deletions components/steer/src/steer.c
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Original file line number Diff line number Diff line change
Expand Up @@ -12,11 +12,15 @@
#include <math.h>
#include <string.h>

#define KP 1.750
#define KP 2.5
#define KI 0.3
#define KD 0.0
#define TS 0.001

#define PID_UPPER_LIMIT 10
#define PID_LOWER_LIMIT -10
#define PID_UPPER_LIMIT 30
#define PID_LOWER_LIMIT -30

#define PID_ABS_VELOCITY_ENABLE 0.2

#define ENCODER2DEG_SLOPE 0.0029
#define ENCODER2DEG_SLOPE_OFFSET 0.0446
Expand Down Expand Up @@ -56,7 +60,7 @@ ember_rate_funcs_S module_rf = {
static void steer_init()
{
selfdrive_pid_init(
&pid, KP, 0, 0, TS, PID_LOWER_LIMIT, PID_UPPER_LIMIT, 0);
&pid, KP, KI, KD, TS, PID_LOWER_LIMIT, PID_UPPER_LIMIT, 0);
}

static void steer_100Hz()
Expand Down Expand Up @@ -114,16 +118,20 @@ static void steer_100Hz()

float encoder_deg = encoder2deg();

float desired_deg = RAD2DEG(CANRX_get_DBW_steeringAngle());

if (odrive_state != CLOSED_LOOP_CONTROL) {
odrive_state = CLOSED_LOOP_CONTROL;
CANTX_doTx_STEER_ODriveRequestState();

selfdrive_pid_setpoint_reset(
&pid, CANRX_get_DBW_steeringAngle(), encoder_deg);
selfdrive_pid_setpoint_reset(&pid, desired_deg, encoder_deg);
}

velocity = selfdrive_pid_step(
&pid, RAD2DEG(CANRX_get_DBW_steeringAngle()), encoder_deg);
float pid_velocity
= selfdrive_pid_step(&pid, desired_deg, encoder_deg);

velocity = (ABS(pid_velocity) > PID_ABS_VELOCITY_ENABLE) ? pid_velocity
: 0.0;
}

static float encoder2deg(void)
Expand All @@ -136,8 +144,7 @@ static float encoder2deg(void)
= ((raw_ticks & 0xff00) >> 8) | ((raw_ticks & 0xff) << 8);

// left angles are positive
float deg
= -1 * (ENCODER2DEG_SLOPE * ticks) + ENCODER2DEG_SLOPE_OFFSET;
float deg = (ENCODER2DEG_SLOPE * ticks) + ENCODER2DEG_SLOPE_OFFSET;

return deg;
}
Expand All @@ -155,6 +162,25 @@ static bool odrive_calibration_needed(void)
return calibration_needed;
}

void CANRX_onRxCallback_DBW_SetSTEERGains(
const struct CAN_TMessageRaw_PIDGains * const raw,
const struct CAN_TMessage_PIDGains * const dec)
{
(void) raw;

pid.kp = dec->gainKp;
pid.ki = dec->gainKi;
pid.kd = dec->gainKd;
}

void CANTX_populateTemplate_SteeringGains(
struct CAN_TMessage_PIDGains * const m)
{
m->gainKp = pid.kp;
m->gainKi = pid.ki;
m->gainKd = pid.kd;
}

void CANTX_populate_STEER_Alarms(struct CAN_Message_STEER_Alarms * const m)
{
m->STEER_alarmsRaised = alarm.odrive_calibration;
Expand Down
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