controls: publish current curvature in CarControl (#34679)

* controls: publish current curvature in CarControl * clean up * update refs --------- Co-authored-by: Shane Smiskol <shane@smiskol.com>
7 days ago · 37839ea0c5
parent 362ddfc0c7
commit 37839ea0c5
2 changed files with 2 additions and 1 deletions
--- 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()
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-fcc771b9ceb487a61035885acbd84e592fb316bf
+4c7ac1a362933af9d97697979162087c1ab2584b