controls: publish current curvature in CarControl #34679
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@haraschax what do you think? The ID.4 takes a curvature, however its current curvature reading is inaccurate so it doesn't reach our target curvature. If we offset the desired curvature with the difference of the car's reading and our reading of current curvature it seems to work. We can also error correct on angle/curvature to fix this, but we haven't needed to add this to LatControlAngle yet |
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Yeah this seems fine, this doesn't break the API. |
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Can you bump opendbc? |
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@sshane this should just need replay logs updated. |
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In support of Volkswagen ID.4 (MEB). Requires commaai/opendbc#1803.
The lateral control coordinator accepts curvature for actuation, and does a pretty good job controlling the car. However, it's closing the control loop against its own idea of the vehicle's curvature, which is different from what openpilot calculates.
To drive the car properly, we need to calculate the difference between those current curvatures, and offset our actuation command by that amount. For the car port to do that, it needs access to the vehicle model curvature.
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