controls: add curvature to actuators (#27108)

* Add curvature to actuators * Use it in CC * revert ford stuff * Update ref_commit old-commit-hash: ad5b3ea410
2 years ago · 09a54d7ce5
parent 13e4e8230c
commit 09a54d7ce5
2 changed files with 2 additions and 1 deletions
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@ -606,6 +606,7 @@ class Controls:
      actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
                                                                             self.last_actuators, self.steer_limited, self.desired_curvature,
                                                                             self.desired_curvature_rate, self.sm['liveLocationKalman'])
+      actuators.curvature = self.desired_curvature
    else:
      lac_log = log.ControlsState.LateralDebugState.new_message()
      if self.sm.rcv_frame['testJoystick'] > 0:
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-3639e42ed538ee5d94ec2572cf27af6260633fad
+634d4ff195345a4a2508e497744aa08addec9237