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fix missing negative limit in pid controller (#2001)

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old-commit-hash: ee99b59bade8d3b5057a5b3f22ad8b3edd102c78
This commit is contained in:
Adeeb Shihadeh
2020-08-08 11:49:13 -07:00
committed by GitHub
parent c4ce441026
commit 944759717e
1 changed files with 2 additions and 1 deletions
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selfdrive/controls/lib/latcontrol_pid.py
+2 -1
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@@ -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):