From 84ef9d50b7545e5948209a40cfc13aa46b48e1a2 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 25 Nov 2019 23:40:51 -0600 Subject: [PATCH] Fix typo (#891) --- selfdrive/controls/lib/latcontrol_indi.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/latcontrol_indi.py b/selfdrive/controls/lib/latcontrol_indi.py index db1192f839..d98b2efd8e 100644 --- a/selfdrive/controls/lib/latcontrol_indi.py +++ b/selfdrive/controls/lib/latcontrol_indi.py @@ -32,7 +32,7 @@ class LatControlINDI(): self.A_K = A - np.dot(K, C) self.x = np.matrix([[0.], [0.], [0.]]) - self.enfore_rate_limit = CP.carName == "toyota" + self.enforce_rate_limit = CP.carName == "toyota" self.RC = CP.lateralTuning.indi.timeConstant self.G = CP.lateralTuning.indi.actuatorEffectiveness @@ -81,7 +81,7 @@ class LatControlINDI(): delta_u = g_inv * accel_error # Enforce rate limit - if self.enfore_rate_limit: + if self.enforce_rate_limit: steer_max = float(SteerLimitParams.STEER_MAX) new_output_steer_cmd = steer_max * (self.delayed_output + delta_u) prev_output_steer_cmd = steer_max * self.output_steer