From 12f02b7b38243fd06939a1bc4b25cec7b6a7e513 Mon Sep 17 00:00:00 2001 From: sshane Date: Sun, 18 Dec 2022 00:50:20 -0800 Subject: [PATCH] fix saturation check --- selfdrive/controls/lib/latcontrol_pid.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py index 0fbdd98d1e..bcfb3ca804 100644 --- a/selfdrive/controls/lib/latcontrol_pid.py +++ b/selfdrive/controls/lib/latcontrol_pid.py @@ -53,7 +53,7 @@ class LatControlPID(LatControl): if self.CP.steerControlType != SteerControlType.torque: angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD - pid_log.saturated = self._check_saturation(angle_control_saturated, CS, steer_limited) + pid_log.saturated = self._check_saturation(angle_control_saturated, CS, False) else: pid_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited)