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Fix typo (#891)

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pull/620/head
Shane Smiskol 5 years ago committed by rbiasini
parent 812f93a5a5
commit 84ef9d50b7
1 changed files with 2 additions and 2 deletions
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  1. 4
      selfdrive/controls/lib/latcontrol_indi.py

4
selfdrive/controls/lib/latcontrol_indi.py
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@ -32,7 +32,7 @@ class LatControlINDI():
self.A_K = A - np.dot(K, C) self.A_K = A - np.dot(K, C)
self.x = np.matrix([[0.], [0.], [0.]]) 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.RC = CP.lateralTuning.indi.timeConstant
self.G = CP.lateralTuning.indi.actuatorEffectiveness self.G = CP.lateralTuning.indi.actuatorEffectiveness
@ -81,7 +81,7 @@ class LatControlINDI():
delta_u = g_inv * accel_error delta_u = g_inv * accel_error
# Enforce rate limit # Enforce rate limit
if self.enfore_rate_limit: if self.enforce_rate_limit:
steer_max = float(SteerLimitParams.STEER_MAX) steer_max = float(SteerLimitParams.STEER_MAX)
new_output_steer_cmd = steer_max * (self.delayed_output + delta_u) new_output_steer_cmd = steer_max * (self.delayed_output + delta_u)
prev_output_steer_cmd = steer_max * self.output_steer prev_output_steer_cmd = steer_max * self.output_steer

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