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important for indi (#19926)

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* important for indi

* dont change that in this pr
old-commit-hash: d6283520980554454f7fb924f3c0f0bf63c52c8a
This commit is contained in:
HaraldSchafer
2021-01-26 14:26:27 -08:00
committed by GitHub
parent dc32aa52a8
commit b3287a405b
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/lib/pathplanner.py
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@@ -186,7 +186,7 @@ class PathPlanner():
# TODO this needs more thought, use .2s extra for now to estimate other delays
delay = CP.steerActuatorDelay + .2
next_tire_angle = interp(DT_MDL + delay, self.t_idxs[:MPC_N+1], self.mpc_solution.tire_angle)
next_tire_angle_rate = interp(delay, self.t_idxs[:MPC_N], self.mpc_solution.tire_angle_rate)
next_tire_angle_rate = self.mpc_solution.tire_angle_rate[0]
# reset to current steer angle if not active or overriding
if active: