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Update frogpilot_planner.py

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firestar5683
2025-11-15 13:40:14 -06:00
parent cedb7d36c0
commit 735f2ffa8f
1 changed files with 1 additions and 1 deletions
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frogpilot/controls/frogpilot_planner.py
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@@ -87,7 +87,7 @@ class FrogPilotPlanner:
params_memory.remove("LastGPSPosition")
self.lateral_acceleration = v_ego**2 * (sm["carState"].steeringAngleDeg - sm["liveParameters"].angleOffsetDeg) * CV.DEG_TO_RAD / (self.CP.steerRatio * self.CP.wheelbase)
self.lateral_acceleration = v_ego**2 * sm["controlsState"].curvature
check_lane_width = frogpilot_toggles.adjacent_paths or frogpilot_toggles.adjacent_path_metrics or frogpilot_toggles.blind_spot_path or frogpilot_toggles.lane_detection
if check_lane_width and v_ego >= frogpilot_toggles.minimum_lane_change_speed: