github-actions[bot]
de77c89cf6
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
85 lines
3.8 KiB
Python
85 lines
3.8 KiB
Python
import numpy as np
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from opendbc.can import CANPacker
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from opendbc.car import Bus, DT_CTRL, structs
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from opendbc.car.lateral import apply_std_steer_angle_limits
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from opendbc.car.interfaces import CarControllerBase
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from opendbc.car.nissan import nissancan
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from opendbc.car.nissan.values import CAR, CarControllerParams
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from opendbc.sunnypilot.car.nissan.nissancan_ext import create_cruise_throttle_msg
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from opendbc.car.common.filter_simple import FirstOrderFilter
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VisualAlert = structs.CarControl.HUDControl.VisualAlert
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class CarController(CarControllerBase):
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def __init__(self, dbc_names, CP, CP_SP):
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super().__init__(dbc_names, CP, CP_SP)
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self.car_fingerprint = CP.carFingerprint
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self.angle_filter = FirstOrderFilter(0.0, 0.1, DT_CTRL)
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self.apply_angle_last = 0
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self.packer = CANPacker(dbc_names[Bus.pt])
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def update(self, CC, CC_SP, CS, now_nanos):
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actuators = CC.actuators
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hud_control = CC.hudControl
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pcm_cancel_cmd = CC.cruiseControl.cancel
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can_sends = []
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### STEER ###
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steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
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# At low speeds and at high steering angles, EPS is sensitive to jitter in angle request. Smooth to fix uncomfortable response.
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if CC.latActive:
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self.angle_filter.update_alpha(float(np.interp(CS.out.vEgo, [5, 10, 20], [0.2, 0.1, 0.0])))
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self.angle_filter.update(actuators.steeringAngleDeg)
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else:
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self.angle_filter.x = actuators.steeringAngleDeg
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# windup slower
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self.apply_angle_last = apply_std_steer_angle_limits(self.angle_filter.x, self.apply_angle_last, CS.out.vEgoRaw,
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CS.out.steeringAngleDeg, CC.latActive, CarControllerParams.ANGLE_LIMITS)
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lkas_max_torque = 0
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if CC.latActive:
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# Max torque from driver before EPS will give up and not apply torque
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if not bool(CS.out.steeringPressed):
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lkas_max_torque = CarControllerParams.LKAS_MAX_TORQUE
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else:
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# Scale max torque based on how much torque the driver is applying to the wheel.
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# Start scaling torque at STEER_THRESHOLD down to 0.2. If we don't scale this low, EPS will temp fault from high driver and LKAS torque
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lkas_max_torque = max(
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CarControllerParams.LKAS_MIN_TORQUE,
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CarControllerParams.LKAS_MAX_TORQUE - 0.6 * max(0, abs(CS.out.steeringTorque) - CarControllerParams.STEER_THRESHOLD),
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)
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if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA) and pcm_cancel_cmd:
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can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg))
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if self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC) and self.frame % 2 == 0:
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button = "CANCEL_BUTTON" if pcm_cancel_cmd else None
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can_sends.append(create_cruise_throttle_msg(self.packer, self.car_fingerprint, CS.cruise_throttle_msg, self.frame, button))
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can_sends.append(nissancan.create_steering_control(
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self.packer, self.apply_angle_last, self.frame, CC.latActive, lkas_max_torque))
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# Below are the HUD messages. We copy the stock message and modify
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if self.CP.carFingerprint != CAR.NISSAN_ALTIMA:
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if self.frame % 2 == 0:
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can_sends.append(nissancan.create_lkas_hud_msg(self.packer, CS.lkas_hud_msg, CC_SP.mads.enabled, hud_control.leftLaneVisible,
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hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart))
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if self.frame % 50 == 0:
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can_sends.append(nissancan.create_lkas_hud_info_msg(
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self.packer, CS.lkas_hud_info_msg, steer_hud_alert
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))
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new_actuators = actuators.as_builder()
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new_actuators.steeringAngleDeg = self.apply_angle_last
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self.frame += 1
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return new_actuators, can_sends
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