latcontrol_torque: change in kp should not affect effective low speed factor gain (#36335)

6 days ago · 3546b625e7
parent 87443cd34d
commit 3546b625e7
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@ -77,7 +77,7 @@ class LatControlTorque(LatControl):
      low_speed_factor = (np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y) / max(CS.vEgo, MIN_SPEED)) ** 2
      setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
      error = setpoint - measurement
-      error_lsf = error + low_speed_factor * error
+      error_lsf = error + low_speed_factor / self.torque_params.kp * error

      # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
      pid_log.error = float(error_lsf)