From ee99b59bade8d3b5057a5b3f22ad8b3edd102c78 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 8 Aug 2020 11:49:13 -0700 Subject: [PATCH] fix missing negative limit in pid controller (#2001) --- selfdrive/controls/lib/latcontrol_pid.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py index 5662942b8f..aa069e81fc 100644 --- a/selfdrive/controls/lib/latcontrol_pid.py +++ b/selfdrive/controls/lib/latcontrol_pid.py @@ -8,7 +8,8 @@ class LatControlPID(): def __init__(self, CP): self.pid = PIController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV), (CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV), - k_f=CP.lateralTuning.pid.kf, pos_limit=1.0, sat_limit=CP.steerLimitTimer) + k_f=CP.lateralTuning.pid.kf, pos_limit=1.0, neg_limit=-1.0, + sat_limit=CP.steerLimitTimer) self.angle_steers_des = 0. def reset(self):