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Controlsd: fix bug in curv rate limit (#23250)

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* Controlsd: fix bug in curv rate limit

* update ref
old-commit-hash: d3f064f5ca2563ab139687550eb5d3139b6b8fea
This commit is contained in:
HaraldSchafer
2022-01-04 13:21:56 -08:00
committed by GitHub
parent a81b0d8564
commit c90287391a
2 changed files with 3 additions and 3 deletions
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selfdrive/controls/lib/drive_helpers.py
+2 -2
View File
@@ -119,6 +119,6 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
-max_curvature_rate,
max_curvature_rate)
safe_desired_curvature = clip(desired_curvature,
current_curvature - max_curvature_rate/DT_MDL,
current_curvature + max_curvature_rate/DT_MDL)
current_curvature - max_curvature_rate * DT_MDL,
current_curvature + max_curvature_rate * DT_MDL)
return safe_desired_curvature, safe_desired_curvature_rate
selfdrive/test/process_replay/ref_commit
+1 -1
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@@ -1 +1 @@
67534ae58a87b6993a0a9653d255e629785a07c3
e0ac3ca09baaf0d791d0e7734799bb297ad91f79