From 0051c8a6f78099bb4d041d4c5b1446fe52a37793 Mon Sep 17 00:00:00 2001 From: Arne Schwarck Date: Wed, 24 Jul 2019 20:45:53 +0200 Subject: [PATCH 1/2] self.poller not used (#759) I do not see the need for zmq and the poller being initialized and not used. --- selfdrive/controls/lib/planner.py | 2 -- 1 file changed, 2 deletions(-) diff --git a/selfdrive/controls/lib/planner.py b/selfdrive/controls/lib/planner.py index 94cc2fc13..f5614eee7 100755 --- a/selfdrive/controls/lib/planner.py +++ b/selfdrive/controls/lib/planner.py @@ -1,5 +1,4 @@ #!/usr/bin/env python -import zmq import math import numpy as np from common.params import Params @@ -65,7 +64,6 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP): class Planner(object): def __init__(self, CP, fcw_enabled): self.CP = CP - self.poller = zmq.Poller() self.plan = messaging.pub_sock(service_list['plan'].port) self.live_longitudinal_mpc = messaging.pub_sock(service_list['liveLongitudinalMpc'].port) From 15562775d88ff3d2b2f69af9d3da58891bff5f0f Mon Sep 17 00:00:00 2001 From: Gernby Date: Thu, 25 Jul 2019 17:00:50 -0500 Subject: [PATCH 2/2] Remove offset from curvature (#761) --- selfdrive/controls/controlsd.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 5c5ba2f66..b2892b49d 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -341,7 +341,7 @@ def data_send(sm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, ca "vEgo": CS.vEgo, "vEgoRaw": CS.vEgoRaw, "angleSteers": CS.steeringAngle, - "curvature": VM.calc_curvature(CS.steeringAngle * CV.DEG_TO_RAD, CS.vEgo), + "curvature": VM.calc_curvature((CS.steeringAngle - sm['pathPlan'].angleOffset) * CV.DEG_TO_RAD, CS.vEgo), "steerOverride": CS.steeringPressed, "state": state, "engageable": not bool(get_events(events, [ET.NO_ENTRY])),