From da4ada0ac9259998253f17dc3dea9c5f7e4c3372 Mon Sep 17 00:00:00 2001 From: sshane Date: Mon, 19 Dec 2022 01:45:14 -0800 Subject: [PATCH] feedforward includes offset --- selfdrive/controls/lib/latcontrol_pid.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py index bcfb3ca804..c42735d84c 100644 --- 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)