Add angleError to pid_log (#21611)

* add angleError * Log all the time * update refs Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
4 years ago · 21fad4d1ad
parent 579fb8072a
commit 21fad4d1ad
2 changed files with 2 additions and 1 deletions
--- a/selfdrive/controls/lib/latcontrol_pid.py
+++ b/selfdrive/controls/lib/latcontrol_pid.py
@ -23,6 +23,7 @@ class LatControlPID():
    angle_steers_des_no_offset = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo))
    angle_steers_des = angle_steers_des_no_offset + params.angleOffsetDeg

+    pid_log.angleError = angle_steers_des - CS.steeringAngleDeg 
    if CS.vEgo < 0.3 or not active:
      output_steer = 0.0
      pid_log.active = False
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-37dce56a5b925dca119dd623d8a69cd4c7b7356d
+f3e220d82db802c653777634228ce57576ac7aad