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| uint32_t min_steering_2; // (optional) for redundant steering sensor | ||
| uint32_t max_steering_2; | ||
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| uint32_t min_sensor_steering_1; // Min value that the sensor can output (if ADC reads less than this, sensor is likely unplugged) |
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Did you double-check this behavior of the steering sensor when you unplugged it?
| steering_params = params; | ||
| } | ||
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| const SteeringSystemData_s &get_steering_system_data() { |
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Nice! we should probably do this in more places throughout VCF
| // min_observed_steering_2 = std::min(min_observed_steering_2, raw_value_2); | ||
| // max_observed_steering_2 = std::max(max_observed_steering_2, raw_value_2); | ||
| } | ||
| uint32_t min_observed_steering_1 = 4096; |
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Where did you get these values from? Might wanna #define them
lib/systems/src/SteeringSystem.cpp
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| _last_update_micros = curr_micros; | ||
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| SteeringSystemData_s out = {}; | ||
| out.steering_is_implausible = _evaluate_steering_implausibilities(static_cast<int>(steering_data.analog_steering_degrees), static_cast<int>(steering_params.min_sensor_steering_1), static_cast<int>(steering_params.max_sensor_steering_1), static_cast<int>(steering_params.min_steering_1), static_cast<int>(steering_params.max_steering_1), steering_params.implausibility_margin, dt); |
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doesn't the _evaluate_steering_implausibilities method have access to the steering_params struct instance? They shouldn't need to be passed in as method arguments.
| } | ||
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| bool SteeringSystem::_evaluate_steering_dtheta(int steering_analog, float dt) | ||
| { |
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Maybe add a comment explaining this.
| return steering_less_than_min || steering_greater_than_max; | ||
| } | ||
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| bool SteeringSystem::_evaluate_steering_oor(int steering_analog, int min_sensor_value, int max_sensor_value) |
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udpate this method signature to use params?
| return steering_oor || steering_min_max_implaus || steering_dtheta; | ||
| } | ||
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| bool SteeringSystem::_evaluate_min_max_steering_implausibilities(int steering_analog, int min_steering_value, int max_steering_value, float implausibility_margin) |
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update signature to use params
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| HT_TASK::TaskResponse update_steering_calibration_task(const unsigned long& sysMicros, const HT_TASK::TaskInfo& taskInfo) { | ||
| // Update observed steering limits (ONLY USED FOR RECALIBRATION) | ||
| SteeringSystemInstance::instance().update_observed_steering_limits(VCFData_sInstance::instance().interface_data.steering_data); |
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is this something we need to call if we're not in the recal state?
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