From 4d7ba8ddf4b13276e57e38bf33d2b0f55db68357 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 13 Dec 2022 01:26:58 -0800 Subject: [PATCH] Revert "offsetting causing hugging?" This reverts commit a42ec0b772ed74a1fd54b7fef2e7c275a3e8333b. --- selfdrive/controls/lib/latcontrol_pid.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py index 2df6767c64..0fbdd98d1e 100644 --- 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