From 37839ea0c59dd80b2129d7594e5b9aff99fd1d9b Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Fri, 25 Apr 2025 16:57:18 -0400 Subject: [PATCH] controls: publish current curvature in CarControl (#34679) * controls: publish current curvature in CarControl * clean up * update refs --------- Co-authored-by: Shane Smiskol --- selfdrive/controls/controlsd.py | 1 + selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index dfff26d9db..5ecff1ccdf 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -141,6 +141,7 @@ class Controls: # Orientation and angle rates can be useful for carcontroller # Only calibrated (car) frame is relevant for the carcontroller + CC.currentCurvature = self.curvature if self.calibrated_pose is not None: CC.orientationNED = self.calibrated_pose.orientation.xyz.tolist() CC.angularVelocity = self.calibrated_pose.angular_velocity.xyz.tolist() diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 4b3ef33407..5f8610d58f 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -fcc771b9ceb487a61035885acbd84e592fb316bf \ No newline at end of file +4c7ac1a362933af9d97697979162087c1ab2584b \ No newline at end of file