github-actions[bot]
de77c89cf6
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
22 lines
835 B
Python
22 lines
835 B
Python
"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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import numpy as np
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from opendbc.car import structs
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from opendbc.car.lateral import apply_center_deadzone
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def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float,
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torque_params: structs.CarParams.LateralTorqueTuning) -> float:
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# TODO torque params' friction should be in lataxel space, not torque space
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friction_interp = np.interp(
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apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
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[-friction_threshold, friction_threshold],
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[-torque_params.friction, torque_params.friction]
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)
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return float(friction_interp)
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