Controlsd: fix bug in curv rate limit (#23250)

* Controlsd: fix bug in curv rate limit * update ref
4 years ago · d3f064f5ca
parent 15be8a8c1f
commit d3f064f5ca
2 changed files with 3 additions and 3 deletions
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@ -119,6 +119,6 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
                                          -max_curvature_rate,
                                          max_curvature_rate)
  safe_desired_curvature = clip(desired_curvature,
-                                     current_curvature - max_curvature_rate/DT_MDL,
-                                     current_curvature + max_curvature_rate/DT_MDL)
+                                     current_curvature - max_curvature_rate * DT_MDL,
+                                     current_curvature + max_curvature_rate * DT_MDL)
  return safe_desired_curvature, safe_desired_curvature_rate
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-67534ae58a87b6993a0a9653d255e629785a07c3
+e0ac3ca09baaf0d791d0e7734799bb297ad91f79