From a98e7d49cc937b2b24f0c52030436fb561ada99e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 9 Dec 2022 23:29:56 -0800 Subject: [PATCH] LatControlAngle: fix setting saturation check speed (#26752) set in init function old-commit-hash: 84340f07abdef408f3fa29083af2f1a55cd3308e --- selfdrive/controls/lib/latcontrol_angle.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py index e2b0c15fff..d692f80b4b 100644 --- a/selfdrive/controls/lib/latcontrol_angle.py +++ b/selfdrive/controls/lib/latcontrol_angle.py @@ -7,7 +7,9 @@ STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees class LatControlAngle(LatControl): - sat_check_min_speed = 5. + def __init__(self, CP, CI): + super().__init__(CP, CI) + self.sat_check_min_speed = 5. def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk): angle_log = log.ControlsState.LateralAngleState.new_message()