From 1cc9b4c770d696de9e99712643aa9d242dbe6f66 Mon Sep 17 00:00:00 2001 From: infiniteCable2 Date: Thu, 31 Jul 2025 19:24:11 +0200 Subject: [PATCH] Update latcontrol_curvature.py --- selfdrive/controls/lib/latcontrol_curvature.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/latcontrol_curvature.py b/selfdrive/controls/lib/latcontrol_curvature.py index c5499f93a..1ad602c30 100644 --- a/selfdrive/controls/lib/latcontrol_curvature.py +++ b/selfdrive/controls/lib/latcontrol_curvature.py @@ -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)