sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

comment

Browse Source
pull/34943/head
Shane Smiskol 3 months ago
parent 411ee00924
commit b37940726a
1 changed files with 1 additions and 0 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 1
      selfdrive/controls/controlsd.py

1
selfdrive/controls/controlsd.py
Unescape View File

@ -115,6 +115,7 @@ class Controls:
steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg) steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg)
self.curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll) 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: if CC.latActive:
self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature, lp.roll) self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature, lp.roll)
else: else:

Write Preview
Loading…
Cancel
Save