From a3c5dd9610573ae733a21d77c2e14cd23b3416e2 Mon Sep 17 00:00:00 2001 From: Jafar Al-Gharaibeh Date: Mon, 3 Jan 2022 09:53:41 -0600 Subject: [PATCH] fix: init new steer Signed-off-by: Jafar Al-Gharaibeh --- selfdrive/car/mazda/carcontroller.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py index 7b722f044..03c9e9b88 100644 --- a/selfdrive/car/mazda/carcontroller.py +++ b/selfdrive/car/mazda/carcontroller.py @@ -18,7 +18,7 @@ class CarController(): can_sends = [] apply_steer = 0 - ti_apply_steer = 0 + ti_apply_steer = ti_new_steer = 0 self.steer_rate_limited = False if c.enabled: @@ -28,8 +28,6 @@ class CarController(): ti_new_steer = int(round(c.actuators.steer * CarControllerParams.TI_STEER_MAX)) ti_apply_steer = apply_ti_steer_torque_limits(ti_new_steer, self.ti_apply_steer_last, CS.out.steeringTorque, CarControllerParams) - else: - ti_apply_steer = ti_new_steer = 0 new_steer = int(round(c.actuators.steer * CarControllerParams.STEER_MAX)) apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last,