import math
from cereal import log
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees
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class LatControlAngle(LatControl):
def __init__(self, CP, CI):
super().__init__(CP, CI)
self.sat_check_min_speed = 5.
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def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk):
angle_log = log.ControlsState.LateralAngleState.new_message()
if not active:
angle_log.active = False
angle_steers_des = float(CS.steeringAngleDeg)
else:
angle_log.active = True
angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
angle_steers_des += params.angleOffsetDeg
angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
angle_log.saturated = self._check_saturation(angle_control_saturated, CS, False)
angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
angle_log.steeringAngleDesiredDeg = angle_steers_des
return 0, float(angle_steers_des), angle_log