From 1d2ea64938f6f56b5d630ad3d0085dd261a8de1c Mon Sep 17 00:00:00 2001 From: dragonpilot Date: Sat, 28 Sep 2019 16:36:39 +1000 Subject: [PATCH] Disable curvature learner --- selfdrive/controls/lib/pathplanner.py | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py index e1dad095c..8bd715d5a 100644 --- a/selfdrive/controls/lib/pathplanner.py +++ b/selfdrive/controls/lib/pathplanner.py @@ -30,7 +30,7 @@ class PathPlanner(object): self.setup_mpc(CP.steerRateCost) self.solution_invalid_cnt = 0 self.path_offset_i = 0.0 - self.curvature_offset = CurvatureLearner(debug=False) + #self.curvature_offset = CurvatureLearner(debug=False) def setup_mpc(self, steer_rate_cost): self.libmpc = libmpc_py.libmpc @@ -60,13 +60,13 @@ class PathPlanner(object): # Run MPC self.angle_steers_des_prev = self.angle_steers_des_mpc VM.update_params(sm['liveParameters'].stiffnessFactor, sm['liveParameters'].steerRatio) - # curvature_factor = VM.curvature_factor(v_ego) - if active: - curvfac = self.curvature_offset.update(angle_steers - angle_offset, self.LP.d_poly, v_ego) - else: - curvfac = 0. + curvature_factor = VM.curvature_factor(v_ego) + #if active: + # curvfac = self.curvature_offset.update(angle_steers - angle_offset, self.LP.d_poly, v_ego) + #else: + # curvfac = 0. - curvature_factor = VM.curvature_factor(v_ego) + curvfac + #curvature_factor = VM.curvature_factor(v_ego) + curvfac # TODO: Check for active, override, and saturation # if active: