fix missing negative limit in pid controller (#2001)

5 years ago · ee99b59bad
parent 5e82578a1b
commit ee99b59bad
1 changed files with 2 additions and 1 deletions
--- 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):