comment

3 months ago · b37940726a
parent 411ee00924
commit b37940726a
1 changed files with 1 additions and 0 deletions
--- 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: