Torque: Neural Network Lateral Control (#7)

* NNFF: Cereal logging and startup alert * fill up lateralControlState
sunnypilot · Nov 12, 2023 · 437d2e4 · 437d2e4
1 parent fc1a200
commit 437d2e4
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diff --git a/car.capnp b/car.capnp
@@ -136,6 +136,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     laneChangeRoadEdge @136;
     speedLimitPreActive @137;
     speedLimitConfirmed @138;
+    torqueNNLoad @139;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
@@ -570,6 +571,8 @@ struct CarParams {
     steeringAngleDeadzoneDeg @5 :Float32;
     latAccelFactor @6 :Float32;
     latAccelOffset @7 :Float32;
+    nnModelName @8 :Text;
+    nnModelFuzzyMatch @9 :Bool;
   }
 
   struct LongitudinalPIDTuning {

diff --git a/custom.capnp b/custom.capnp
@@ -20,6 +20,39 @@ enum LongitudinalPersonalitySP {
 
 struct ControlsStateSP @0x81c2f05a394cf4af {
   lateralState @0 :Text;
+
+  lateralControlState :union {
+    indiState @1 :LateralINDIState;
+    pidState @2 :LateralPIDState;
+    angleState @3 :LateralAngleState;
+    debugState @4 :LateralDebugState;
+    torqueState @5 :LateralTorqueState;
+    curvatureState @6 :LateralCurvatureState;
+
+    lqrStateDEPRECATED @7 :LateralLQRState;
+  }
+
+  struct LateralINDIState {
+  }
+
+  struct LateralPIDState {
+  }
+
+  struct LateralAngleState {
+  }
+
+  struct LateralDebugState {
+  }
+
+  struct LateralTorqueState {
+    nnLog @0 :List(Float32);
+  }
+
+  struct LateralCurvatureState {
+  }
+
+  struct LateralLQRState {
+  }
 }
 
 struct LongitudinalPlanSP @0xaedffd8f31e7b55d {