From b37940726a47cc86dab004ff6cac4ecfe4d1ef6e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 26 Mar 2025 22:21:31 -0700
Subject: [PATCH] comment

---
 selfdrive/controls/controlsd.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 8bace6c923..f5b0573e5f 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -115,6 +115,7 @@ class Controls:
     steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg)
     self.curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll)
 
+    # Reset desired curvature to current to avoid violating the limits on engage
     if CC.latActive:
       self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature, lp.roll)
     else: