From db4a918c2ac39c03d3bd178df4a803c23573e107 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 3 Jun 2020 11:31:12 -0700 Subject: [PATCH] Bounds checks on liveParameters for testing on desk old-commit-hash: 0f20ac728f4558ee8a849646f366d816a2479b62 --- selfdrive/controls/lib/pathplanner.py | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py index 48ae4baca0..40e6c38002 100644 --- a/selfdrive/controls/lib/pathplanner.py +++ b/selfdrive/controls/lib/pathplanner.py @@ -87,7 +87,12 @@ class PathPlanner(): # Run MPC self.angle_steers_des_prev = self.angle_steers_des_mpc - VM.update_params(sm['liveParameters'].stiffnessFactor, sm['liveParameters'].steerRatio) + + # Update vehicle model + x = max(sm['liveParameters'].stiffnessFactor, 0.1) + sr = max(sm['liveParameters'].steerRatio, 0.1) + VM.update_params(x, sr) + curvature_factor = VM.curvature_factor(v_ego) self.LP.parse_model(sm['model'])