feedforward includes offset

3 years ago · da4ada0ac9
parent 12f02b7b38
commit da4ada0ac9
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/controls/lib/latcontrol_pid.py
+++ b/selfdrive/controls/lib/latcontrol_pid.py
@ -41,7 +41,7 @@ class LatControlPID(LatControl):
      self.pid.reset()
    else:
      # offset does not contribute to resistive torque
-      steer_feedforward = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
+      steer_feedforward = self.get_steer_feedforward(angle_steers_des, CS.vEgo)

      output_steer = self.pid.update(error, override=CS.steeringPressed,
                                     feedforward=steer_feedforward, speed=CS.vEgo)