From 68f9476e454cc6dd198af3035f14e53ef82b500a Mon Sep 17 00:00:00 2001
From: Gernby <gernby2002@yahoo.com>
Date: Thu, 25 Jul 2019 17:00:50 -0500
Subject: [PATCH] Remove offset from curvature (#761)

old-commit-hash: 61bbb521723e8922c4a6ae9e4137421633f919a8
---
 selfdrive/controls/controlsd.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 5c5ba2f661..b2892b49dc 100755
--- 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])),