important for indi (#19926)

* important for indi * dont change that in this pr
5 years ago · d628352098
parent 144227d3d3
commit d628352098
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/controls/lib/pathplanner.py
+++ b/selfdrive/controls/lib/pathplanner.py
@ -186,7 +186,7 @@ class PathPlanner():
    # TODO this needs more thought, use .2s extra for now to estimate other delays
    delay = CP.steerActuatorDelay + .2
    next_tire_angle = interp(DT_MDL + delay, self.t_idxs[:MPC_N+1], self.mpc_solution.tire_angle)
-    next_tire_angle_rate = interp(delay, self.t_idxs[:MPC_N], self.mpc_solution.tire_angle_rate)
+    next_tire_angle_rate = self.mpc_solution.tire_angle_rate[0]

    # reset to current steer angle if not active or overriding
    if active: