Remove offset from curvature (#761)

6 years ago · 61bbb52172
parent cf5c4aeacb
commit 61bbb52172
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@ -341,7 +341,7 @@ def data_send(sm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, ca
    "vEgo": CS.vEgo,
    "vEgoRaw": CS.vEgoRaw,
    "angleSteers": CS.steeringAngle,
-    "curvature": VM.calc_curvature(CS.steeringAngle * CV.DEG_TO_RAD, CS.vEgo),
+    "curvature": VM.calc_curvature((CS.steeringAngle - sm['pathPlan'].angleOffset) * CV.DEG_TO_RAD, CS.vEgo),
    "steerOverride": CS.steeringPressed,
    "state": state,
    "engageable": not bool(get_events(events, [ET.NO_ENTRY])),