From 1904f49bcc97370a842aeee1f831e9ced5a6cad6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 26 Mar 2025 22:27:13 -0700 Subject: [PATCH] rename so you can't accidentally use --- selfdrive/controls/controlsd.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 7b39d602ae..dfff26d9db 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -115,8 +115,8 @@ class Controls: # Steering PID loop and lateral MPC # Reset desired curvature to current to avoid violating the limits on engage - desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature - self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, desired_curvature, lp.roll) + new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature + self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, new_desired_curvature, lp.roll) actuators.curvature = self.desired_curvature steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,