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update smooth

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Bruce Wayne
2025-04-21 15:44:30 -07:00
parent 33a7d853f0
commit a029d13398
1 changed files with 2 additions and 2 deletions
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selfdrive/controls/lib/drive_helpers.py
+2 -2
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@@ -19,8 +19,8 @@ def clamp(val, min_val, max_val):
clamped_val = float(np.clip(val, min_val, max_val))
return clamped_val, clamped_val != val
def smooth_value(val, prev_val, tau):
alpha = 1 - np.exp(-DT_MDL / tau) if tau > 0 else 1
def smooth_value(val, prev_val, tau, dt=DT_MDL):
alpha = 1 - np.exp(-dt/tau) if tau > 0 else 1
return alpha * val + (1 - alpha) * prev_val
def clip_curvature(v_ego, prev_curvature, new_curvature, roll):