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incognitojam/ford_tuning.xml

Created September 11, 2022 20:24
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ford_tuning.xml
<?xml version='1.0' encoding='UTF-8'?>
<root version="2.3.8">
<tabbed_widget parent="main_window" name="Main Window">
<Tab tab_name="Lateral" containers="1">
<Container>
<DockSplitter orientation="-" count="5" sizes="0.200458;0.199313;0.200458;0.199313;0.200458">
<DockArea name="Velocity [m/s]">
<plot style="Lines" mode="TimeSeries">
<range left="1.253354" top="29.954036" bottom="-0.841715" right="631.055584"/>
<limitY/>
<curve color="#0072b2" name="/carState/vEgo"/>
</plot>
</DockArea>
<DockArea name="Curvature [1/m] True [blue] Vehicle Model [purple] Plan [green]">
<plot style="Lines" mode="TimeSeries">
<range left="0.000000" top="0.006648" bottom="-0.003150" right="631.055209"/>
<limitY/>
<curve color="#009e73" name="engaged curvature plan"/>
<curve color="#785ef0" name="engaged curvature vehicle model"/>
<curve color="#0072b2" name="engaged curvature yaw"/>
</plot>
</DockArea>
<DockArea name="Steering Angle [red] Desired Steering Angle [green]">
<plot style="Lines" mode="TimeSeries">
<range left="0.000000" top="1.000000" bottom="0.000000" right="1.000000"/>
<limitY/>
<curve color="#b23030" name="/controlsState/lateralControlState/pidState/steeringAngleDeg"/>
<curve color="#30b230" name="/controlsState/lateralControlState/pidState/steeringAngleDesiredDeg"/>
</plot>
</DockArea>
<DockArea name="Roll [rad]">
<plot style="Lines" mode="TimeSeries">
<range left="0.000000" top="0.166067" bottom="-1.598381" right="631.038276"/>
<limitY/>
<curve color="#ffb000" name="/liveLocationKalman/calibratedOrientationNED/value/0"/>
</plot>
</DockArea>
<DockArea name="Engaged [green] Steering Pressed [blue]">
<plot style="Lines" mode="TimeSeries">
<range left="1.252984" top="1.025000" bottom="-0.025000" right="631.055584"/>
<limitY/>
<curve color="#009e73" name="/controlsState/enabled"/>
<curve color="#0072b2" name="/carState/steeringPressed"/>
</plot>
</DockArea>
</DockSplitter>
</Container>
</Tab>
<Tab tab_name="Ford Debug" containers="1">
<Container>
<DockSplitter orientation="-" count="4" sizes="0.25;0.25;0.25;0.25">
<DockArea name="Desired Steering Angle [blue] Command Steering Angle [purple] Steering Angle [pink]">
<plot style="Lines" mode="TimeSeries">
<range left="0.000000" top="1.000000" bottom="0.000000" right="1.000000"/>
<limitY/>
<curve color="#0020c2" name="/controlsState/lateralControlState/pidState/steeringAngleDesiredDeg"/>
<curve color="#b200b2" name="/carControl/actuatorsOutput/steeringAngleDeg"/>
<curve color="#ff40b2" name="/carState/steeringAngleDeg"/>
</plot>
</DockArea>
<DockArea name="Curvature (1/m) [blue]">
<plot style="Lines" mode="TimeSeries">
<range left="0.000000" top="1.000000" bottom="0.000000" right="1.000000"/>
<limitY/>
<curve color="#0072b2" name="/sendcan/0/LateralMotionControl/LatCtlCurv_No_Actl"/>
</plot>
</DockArea>
<DockArea name="Path Angle (rad) [purple]">
<plot style="Lines" mode="TimeSeries">
<range left="0.000000" top="1.000000" bottom="0.000000" right="1.000000"/>
<limitY/>
<curve color="#785ef0" name="/sendcan/0/LateralMotionControl/LatCtlPath_An_Actl"/>
</plot>
</DockArea>
<DockArea name="Active [green] Steering Pressed [blue]">
<plot style="Lines" mode="TimeSeries">
<range left="0.000000" top="1.000000" bottom="0.000000" right="1.000000"/>
<limitY/>
<curve color="#00b272" name="/sendcan/0/LateralMotionControl/LatCtl_D_Rq"/>
<curve color="#0072b2" name="/carState/steeringPressed"/>
</plot>
</DockArea>
</DockSplitter>
</Container>
</Tab>
<Tab tab_name="Lateral Debug" containers="1">
<Container>
<DockSplitter orientation="-" count="4" sizes="0.25;0.25;0.25;0.25">
<DockArea name="Controller F [magenta] P [purple] I [blue]">
<plot style="Lines" mode="TimeSeries">
<range left="0.000000" top="1.000000" bottom="0.000000" right="1.000000"/>
<limitY/>
<curve name="/controlsState/lateralControlState/pidState/f" color="#f14cc1"/>
<curve name="/controlsState/lateralControlState/pidState/p" color="#9467bd"/>
<curve name="/controlsState/lateralControlState/pidState/i" color="#17becf"/>
</plot>
</DockArea>
<DockArea name="Driver Torque [blue] EPS Torque [green]">
<plot style="Lines" mode="TimeSeries">
<range left="1.253354" top="2690.999030" bottom="-3450.198981" right="631.055584"/>
<limitY/>
<curve color="#009e73" name="/carState/steeringTorqueEps"/>
<curve color="#0072b2" name="/carState/steeringTorque"/>
</plot>
</DockArea>
<DockArea name="Engaged [green] Steering Pressed [blue]">
<plot style="Lines" mode="TimeSeries">
<range left="1.253354" top="1.025000" bottom="-0.025000" right="631.055759"/>
<limitY/>
<curve color="#009e73" name="/carControl/enabled"/>
<curve color="#0072b2" name="/carState/steeringPressed"/>
</plot>
</DockArea>
<DockArea name="Steering Limited: Rate [orange] Saturated [magenta]">
<plot style="Lines" mode="TimeSeries">
<range left="1.253354" top="1.025000" bottom="-0.025000" right="631.055584"/>
<limitY/>
<curve name="/carState/steeringRateLimited" color="#ffb000"/>
<curve name="/controlsState/lateralControlState/pidState/saturated" color="#dc267f"/>
</plot>
</DockArea>
</DockSplitter>
</Container>
</Tab>
<currentTabIndex index="0"/>
</tabbed_widget>
<use_relative_time_offset enabled="1"/>
<!-- - - - - - - - - - - - - - - -->
<!-- - - - - - - - - - - - - - - -->
<Plugins>
<plugin ID="DataLoad Rlog"/>
<plugin ID="Cereal Subscriber"/>
</Plugins>
<!-- - - - - - - - - - - - - - - -->
<!-- - - - - - - - - - - - - - - -->
<customMathEquations>
<snippet name="engaged curvature yaw">
<global>engage_delay = 2
last_bad_time = -engage_delay</global>
<function>curvature = value / v3
pressed = v1
enabled = v2
if (pressed == 1 or enabled == 0) then
last_bad_time = time
end
if (time > last_bad_time + engage_delay) then
return curvature
else
return 0
end</function>
<linked_source>/liveLocationKalman/angularVelocityCalibrated/value/2</linked_source>
<additional_sources>
<v1>/carState/steeringPressed</v1>
<v2>/carControl/enabled</v2>
<v3>/liveLocationKalman/velocityCalibrated/value/0</v3>
</additional_sources>
</snippet>
<snippet name="engaged curvature vehicle model">
<global>engage_delay = 2
last_bad_time = -engage_delay</global>
<function>curvature = value
pressed = v1
enabled = v2
if (pressed == 1 or enabled == 0) then
last_bad_time = time
end
if (time > last_bad_time + engage_delay) then
return value
else
return 0
end</function>
<linked_source>/controlsState/curvature</linked_source>
<additional_sources>
<v1>/carState/steeringPressed</v1>
<v2>/carControl/enabled</v2>
</additional_sources>
</snippet>
<snippet name="engaged curvature plan">
<global>engage_delay = 2
last_bad_time = -engage_delay</global>
<function>curvature = value
pressed = v1
enabled = v2
if (pressed == 1 or enabled == 0) then
last_bad_time = time
end
if (time > last_bad_time + engage_delay) then
return value
else
return 0
end</function>
<linked_source>/lateralPlan/curvatures/0</linked_source>
<additional_sources>
<v1>/carState/steeringPressed</v1>
<v2>/carControl/enabled</v2>
</additional_sources>
</snippet>
</customMathEquations>
<snippets/>
<!-- - - - - - - - - - - - - - - -->
</root>
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