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offsetting causing hugging?

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pull/27494/head
sshane 2 years ago
parent 40534798f1
commit a42ec0b772
1 changed files with 1 additions and 1 deletions
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  1. 2
      selfdrive/controls/lib/latcontrol_pid.py

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selfdrive/controls/lib/latcontrol_pid.py
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@ -30,7 +30,7 @@ class LatControlPID(LatControl):
pid_log.steeringRateDeg = float(CS.steeringRateDeg) 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_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 error = angle_steers_des - CS.steeringAngleDeg
pid_log.steeringAngleDesiredDeg = angle_steers_des pid_log.steeringAngleDesiredDeg = angle_steers_des

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