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forgot this

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pull/33208/head
Shane Smiskol 9 months ago
parent 0c89b2b4c6
commit d17f3d235e
1 changed files with 1 additions and 1 deletions
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  1. 2
      selfdrive/controls/lib/latcontrol_pid.py

2
selfdrive/controls/lib/latcontrol_pid.py
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@ -10,7 +10,7 @@ class LatControlPID(LatControl):
super().__init__(CP, CI) super().__init__(CP, CI)
self.pid = PIDController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV), self.pid = PIDController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
(CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV), (CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
k_f=CP.lateralTuning.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max) k_f=CP.lateralTuning.pid.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
self.get_steer_feedforward = CI.get_steer_feedforward_function() self.get_steer_feedforward = CI.get_steer_feedforward_function()
def reset(self): def reset(self):

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