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Interpolate desired angle between MPC updates #553

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Gernby commented Mar 6, 2019

This enhancement is part of a large group of enhancements included in a different PR. I realized that it would be easier to understand and evaluate the merits of each individual enhancement before that PR is completed. I'll be submitting many more over the next few days.

The existing lateral control logic does not interpolate between MPC updates, which creates a significant amount of noise in controls. Also, since controls and planning run in separate threads without any synchronization, the number and offset of control cycles per MPC update is irregular, creating additional noise.

This enhancement eliminates both of those noise sources by interpolating between multiple points using system time. Below are examples of standard vs interpolated values over a 2 second period.

Standard values
non-interpolated

Interpolated values
interpolated

Gernby added some commits Jan 10, 2019

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