From 153cebce1e082a912847976dece630083bf2126b Mon Sep 17 00:00:00 2001 From: infiniteCable <75014343+infiniteCable@users.noreply.github.com> Date: Sat, 7 Jun 2025 01:37:53 +0200 Subject: [PATCH] Update latcontrol_curvature.py --- selfdrive/controls/lib/latcontrol_curvature.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/latcontrol_curvature.py b/selfdrive/controls/lib/latcontrol_curvature.py index c646a52f5..9556b42be 100644 --- a/selfdrive/controls/lib/latcontrol_curvature.py +++ b/selfdrive/controls/lib/latcontrol_curvature.py @@ -27,7 +27,7 @@ class LatControlCurvature(LatControl): roll_compensation = -VM.roll_compensation(params.roll, CS.vEgo) gravity_adjusted_curvature = desired_curvature - roll_compensation - pid_log.error = float(gravity_adjusted_curvature - actual_curvature) + pid_log.error = float(desired_curvature - actual_curvature) freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5 output_curvature = self.pid.update(pid_log.error, feedforward=gravity_adjusted_curvature, speed=CS.vEgo, freeze_integrator=freeze_integrator) @@ -38,7 +38,7 @@ class LatControlCurvature(LatControl): pid_log.f = float(self.pid.f) pid_log.output = float(output_curvature) pid_log.actualCurvature = float(actual_curvature) - pid_log.desiredCurvature = float(gravity_adjusted_curvature) + pid_log.desiredCurvature = float(desired_curvature) pid_log.saturated = bool(self._check_saturation(self.curvature_max - abs(output_curvature) < 1e-5, CS, steer_limited_by_controls, curvature_limited)) return 0.0, 0.0, output_curvature, pid_log