type lat_delay

Author: felsager

selfdrive/controls/lib/latcontrol.py

@@ -15,7 +15,7 @@ def __init__(self, CP, CI):
     self.steer_max = 1.0
 
   @abstractmethod
-  def update(self, active, CS, VM, params, steer_limited_by_safety: bool, desired_curvature, curvature_limited: bool, lat_delay):
+  def update(self, active, CS, VM, params, steer_limited_by_safety: bool, desired_curvature, curvature_limited: bool, lat_delay: float):
     pass
 
   def reset(self):

selfdrive/controls/lib/latcontrol_angle.py

@@ -13,7 +13,7 @@ def __init__(self, CP, CI):
     self.sat_check_min_speed = 5.
     self.use_steer_limited_by_safety = CP.brand == "tesla"
 
-  def update(self, active, CS, VM, params, steer_limited_by_safety: bool, desired_curvature, curvature_limited: bool, lat_delay):
+  def update(self, active, CS, VM, params, steer_limited_by_safety: bool, desired_curvature, curvature_limited: bool, lat_delay: float):
     angle_log = log.ControlsState.LateralAngleState.new_message()
 
     if not active:

selfdrive/controls/lib/latcontrol_pid.py

@@ -13,7 +13,7 @@ def __init__(self, CP, CI):
                              k_f=CP.lateralTuning.pid.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
     self.get_steer_feedforward = CI.get_steer_feedforward_function()
 
-  def update(self, active, CS, VM, params, steer_limited_by_safety: bool, desired_curvature, curvature_limited: bool, lat_delay):
+  def update(self, active, CS, VM, params, steer_limited_by_safety: bool, desired_curvature, curvature_limited: bool, lat_delay: float):
     pid_log = log.ControlsState.LateralPIDState.new_message()
     pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     pid_log.steeringRateDeg = float(CS.steeringRateDeg)

selfdrive/controls/lib/latcontrol_torque.py

@@ -47,7 +47,7 @@ def update_limits(self):
     self.pid.set_limits(self.lateral_accel_from_torque(self.steer_max, self.torque_params),
                         self.lateral_accel_from_torque(-self.steer_max, self.torque_params))
 
-  def update(self, active, CS, VM, params, steer_limited_by_safety: bool, desired_curvature, curvature_limited: bool, lat_delay):
+  def update(self, active, CS, VM, params, steer_limited_by_safety: bool, desired_curvature, curvature_limited: bool, lat_delay: float):
     pid_log = log.ControlsState.LateralTorqueState.new_message()
     if not active:
       output_torque = 0.0