From a3df9b39f43243199a8e8818b1eb0fbd25db77c5 Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Mon, 8 Dec 2025 11:37:40 -0600 Subject: [PATCH] Patch --- frogpilot/controls/lib/neural_network_feedforward.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/frogpilot/controls/lib/neural_network_feedforward.py b/frogpilot/controls/lib/neural_network_feedforward.py index e7495d32c..18f5b8253 100644 --- a/frogpilot/controls/lib/neural_network_feedforward.py +++ b/frogpilot/controls/lib/neural_network_feedforward.py @@ -215,6 +215,7 @@ class LatControlNNFF(LatControl): def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay, llk, model_data, frogpilot_toggles): pid_log = log.ControlsState.LateralTorqueState.new_message() + pid_log.error = 0.0 if not active: output_torque = 0.0 pid_log.active = False @@ -300,7 +301,7 @@ class LatControlNNFF(LatControl): torque_from_setpoint = self.lat_torque_nn_model.evaluate(nnff_setpoint_input) torque_from_measurement = self.lat_torque_nn_model.evaluate(nnff_measurement_input) - pid_log.error = torque_from_setpoint - torque_from_measurement + pid_log.error = float(torque_from_setpoint - torque_from_measurement) error_blend = interp(abs(desired_lateral_accel), [1.0, 2.0], [0.0, 1.0]) if error_blend > 0.0: # blend in stronger error response when in high lat accel @@ -316,7 +317,7 @@ class LatControlNNFF(LatControl): # apply friction override for cars with low NN friction response if self.nn_friction_override: - pid_log.error += self.torque_from_lateral_accel(0.0, self.torque_params) + pid_log.error += float(self.torque_from_lateral_accel(0.0, self.torque_params)) else: torque_from_measurement = self.torque_from_lateral_accel(measurement, self.torque_params) torque_from_setpoint = self.torque_from_lateral_accel(setpoint, self.torque_params)