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important for indi (#19926)

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* important for indi

* dont change that in this pr
pull/19928/head
HaraldSchafer 4 years ago committed by GitHub
parent 144227d3d3
commit d628352098
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  1. 2
      selfdrive/controls/lib/pathplanner.py

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selfdrive/controls/lib/pathplanner.py
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@ -186,7 +186,7 @@ class PathPlanner():
# TODO this needs more thought, use .2s extra for now to estimate other delays # TODO this needs more thought, use .2s extra for now to estimate other delays
delay = CP.steerActuatorDelay + .2 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 = 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 # reset to current steer angle if not active or overriding
if active: if active:

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