From d6283520980554454f7fb924f3c0f0bf63c52c8a Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Tue, 26 Jan 2021 14:26:27 -0800 Subject: [PATCH] important for indi (#19926) * important for indi * dont change that in this pr --- selfdrive/controls/lib/pathplanner.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py index c3f239704e..2583206b03 100644 --- a/selfdrive/controls/lib/pathplanner.py +++ b/selfdrive/controls/lib/pathplanner.py @@ -186,7 +186,7 @@ class PathPlanner(): # TODO this needs more thought, use .2s extra for now to estimate other delays delay = CP.steerActuatorDelay + .2 next_tire_angle = interp(DT_MDL + delay, self.t_idxs[:MPC_N+1], self.mpc_solution.tire_angle) - next_tire_angle_rate = interp(delay, self.t_idxs[:MPC_N], self.mpc_solution.tire_angle_rate) + next_tire_angle_rate = self.mpc_solution.tire_angle_rate[0] # reset to current steer angle if not active or overriding if active: