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Update latcontrol_curvature.py

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infiniteCable2
2025-07-31 19:24:11 +02:00
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parent 55b25baaa1
commit 1cc9b4c770
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/lib/latcontrol_curvature.py
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@@ -11,7 +11,7 @@ CURVATURE_SATURATION_THRESHOLD = 5e-4 # rad/m
class LatControlCurvature(LatControl):
def __init__(self, CP, CP_SP, CI):
super().__init__(CP, CP_SP, CI)
self.useCarSteerCurvature = CP.ret.useCarSteerCurvature
self.useCarSteerCurvature = CP.useCarSteerCurvature
self.pid = MultiplicativeUnwindPID((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
(CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
k_f=CP.lateralTuning.pid.kf, pos_limit=self.curvature_max, neg_limit=-self.curvature_max)