offsetting causing hugging?

3 years ago · a42ec0b772
parent 40534798f1
commit a42ec0b772
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/controls/lib/latcontrol_pid.py
+++ b/selfdrive/controls/lib/latcontrol_pid.py
@ -30,7 +30,7 @@ class LatControlPID(LatControl):
    pid_log.steeringRateDeg = float(CS.steeringRateDeg)

    angle_steers_des_no_offset = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
-    angle_steers_des = angle_steers_des_no_offset + params.angleOffsetDeg
+    angle_steers_des = angle_steers_des_no_offset #+ params.angleOffsetDeg
    error = angle_steers_des - CS.steeringAngleDeg

    pid_log.steeringAngleDesiredDeg = angle_steers_des