fix saturation check

3 years ago · 12f02b7b38
parent 11d28af443
commit 12f02b7b38
1 changed files with 1 additions and 1 deletions
--- 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)