From 21fad4d1adcaea1fd802f8dcb80f267d6d5b19d3 Mon Sep 17 00:00:00 2001 From: grekiki Date: Wed, 1 Sep 2021 22:45:22 +0200 Subject: [PATCH] Add angleError to pid_log (#21611) * add angleError * Log all the time * update refs Co-authored-by: Adeeb Shihadeh --- selfdrive/controls/lib/latcontrol_pid.py | 1 + selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py index b258f9eded..df065b4a00 100644 --- a/selfdrive/controls/lib/latcontrol_pid.py +++ b/selfdrive/controls/lib/latcontrol_pid.py @@ -23,6 +23,7 @@ class LatControlPID(): angle_steers_des_no_offset = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo)) angle_steers_des = angle_steers_des_no_offset + params.angleOffsetDeg + pid_log.angleError = angle_steers_des - CS.steeringAngleDeg if CS.vEgo < 0.3 or not active: output_steer = 0.0 pid_log.active = False diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index bb1c82c18b..bc4db5fb6a 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -37dce56a5b925dca119dd623d8a69cd4c7b7356d \ No newline at end of file +f3e220d82db802c653777634228ce57576ac7aad \ No newline at end of file