From a029d13398c0408b4ebcf7fa916474f5e3d79129 Mon Sep 17 00:00:00 2001 From: Bruce Wayne Date: Mon, 21 Apr 2025 15:44:30 -0700 Subject: [PATCH] update smooth --- selfdrive/controls/lib/drive_helpers.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 038061b7e6..3f99f1bbbb 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -19,8 +19,8 @@ def clamp(val, min_val, max_val): clamped_val = float(np.clip(val, min_val, max_val)) return clamped_val, clamped_val != val -def smooth_value(val, prev_val, tau): - alpha = 1 - np.exp(-DT_MDL / tau) if tau > 0 else 1 +def smooth_value(val, prev_val, tau, dt=DT_MDL): + alpha = 1 - np.exp(-dt/tau) if tau > 0 else 1 return alpha * val + (1 - alpha) * prev_val def clip_curvature(v_ego, prev_curvature, new_curvature, roll):