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firestar5683
2025-10-15 22:58:25 -05:00
parent 31e1415015
commit 0182b746a4
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/lib/latcontrol_torque.py
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@@ -85,7 +85,7 @@ class LatControlTorque(LatControl):
low_speed_factor = (np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y_NN if frogpilot_toggles.nnff else LOW_SPEED_Y) / max(CS.vEgo, MIN_SPEED)) ** 2
setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
error = setpoint - measurement
error_lsf = error + low_speed_factor * error
error_lsf = error + low_speed_factor / self.torque_params.kp * error
if self.nnff_loaded and frogpilot_toggles.nnff or frogpilot_toggles.nnff_lite:
pid_log, ff = self.nnff.compute_nnff(