Bounds checks on liveParameters for testing on desk

5 years ago · 0f20ac728f
parent e3ffdf3647
commit 0f20ac728f
1 changed files with 6 additions and 1 deletions
--- a/selfdrive/controls/lib/pathplanner.py
+++ b/selfdrive/controls/lib/pathplanner.py
@ -87,7 +87,12 @@ class PathPlanner():

    # Run MPC
    self.angle_steers_des_prev = self.angle_steers_des_mpc
-    VM.update_params(sm['liveParameters'].stiffnessFactor, sm['liveParameters'].steerRatio)
+
+    # Update vehicle model
+    x = max(sm['liveParameters'].stiffnessFactor, 0.1)
+    sr = max(sm['liveParameters'].steerRatio, 0.1)
+    VM.update_params(x, sr)
+
    curvature_factor = VM.curvature_factor(v_ego)

    self.LP.parse_model(sm['model'])