Revert "offsetting causing hugging?"

This reverts commit a42ec0b772.
3 years ago · 4d7ba8ddf4
parent a42ec0b772
commit 4d7ba8ddf4
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/controls/lib/latcontrol_pid.py
+++ b/selfdrive/controls/lib/latcontrol_pid.py
@ -30,7 +30,7 @@ class LatControlPID(LatControl):
    pid_log.steeringRateDeg = float(CS.steeringRateDeg)

    angle_steers_des_no_offset = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
-    angle_steers_des = angle_steers_des_no_offset #+ params.angleOffsetDeg
+    angle_steers_des = angle_steers_des_no_offset + params.angleOffsetDeg
    error = angle_steers_des - CS.steeringAngleDeg

    pid_log.steeringAngleDesiredDeg = angle_steers_des