forgot this

9 months ago · d17f3d235e
parent 0c89b2b4c6
commit d17f3d235e
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/controls/lib/latcontrol_pid.py
+++ b/selfdrive/controls/lib/latcontrol_pid.py
@ -10,7 +10,7 @@ class LatControlPID(LatControl):
    super().__init__(CP, CI)
    self.pid = PIDController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
                             (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()

  def reset(self):