Fix typo (#891)

5 years ago · 84ef9d50b7
parent 812f93a5a5
commit 84ef9d50b7
1 changed files with 2 additions and 2 deletions
--- 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