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set curvature in joystickd (#34668)

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* set curvature in joystickd

* Update joystickd.py

* Update joystickd.py
This commit is contained in:
Shane Smiskol
2025-02-22 01:43:00 -08:00
committed by GitHub
parent a8e416abbe
commit e9aa331f0f
1 changed files with 5 additions and 0 deletions
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tools/joystick/joystickd.py
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@@ -62,6 +62,11 @@ def joystickd_thread():
cs_msg.valid = True cs_msg.valid = True
controlsState = cs_msg.controlsState controlsState = cs_msg.controlsState
controlsState.lateralControlState.init('debugState') controlsState.lateralControlState.init('debugState')
lp = sm['liveParameters']
steer_angle_without_offset = math.radians(sm['carState'].steeringAngleDeg - lp.angleOffsetDeg)
controlsState.curvature = -VM.calc_curvature(steer_angle_without_offset, sm['carState'].vEgo, lp.roll)
pm.send('controlsState', cs_msg) pm.send('controlsState', cs_msg)
rk.keep_time() rk.keep_time()