From 2f808985c086fd54f1fbc13adeccabb78a07db21 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 21 Jul 2022 21:04:31 -0700 Subject: [PATCH] body: fix integrator freezing in turn loop (#25243) --- selfdrive/car/body/carcontroller.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py index 7705cd86cb..0d5d780bd3 100644 --- a/selfdrive/car/body/carcontroller.py +++ b/selfdrive/car/body/carcontroller.py @@ -61,8 +61,8 @@ class CarController: speed_diff_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl - CS.out.wheelSpeeds.fr) turn_error = speed_diff_measured - speed_diff_desired - freeze_integrator = ((turn_error < 0 and self.turn_pid.error_integral <= -MAX_POS_INTEGRATOR) or - (turn_error > 0 and self.turn_pid.error_integral >= MAX_POS_INTEGRATOR)) + freeze_integrator = ((turn_error < 0 and self.turn_pid.error_integral <= -MAX_TURN_INTEGRATOR) or + (turn_error > 0 and self.turn_pid.error_integral >= MAX_TURN_INTEGRATOR)) torque_diff = self.turn_pid.update(turn_error, freeze_integrator=freeze_integrator) # Combine 2 PIDs outputs