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Bounds checks on liveParameters for testing on desk

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This commit is contained in:
Willem Melching
2020-06-03 11:31:12 -07:00
parent e3ffdf3647
commit 0f20ac728f
1 changed files with 6 additions and 1 deletions
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selfdrive/controls/lib/pathplanner.py
+6 -1
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@@ -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'])