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Update latcontrol_curvature.py

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infiniteCable
2025-06-07 12:46:02 +02:00
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parent 153cebce1e
commit 252e1b0725
1 changed files with 2 additions and 2 deletions
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selfdrive/controls/lib/latcontrol_curvature.py
+2 -2
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@@ -7,8 +7,8 @@ from openpilot.common.pid import PIDController
class LatControlCurvature(LatControl):
def __init__(self, CP, CI):
super().__init__(CP, CI)
def __init__(self, CP, CP_SP, CI):
super().__init__(CP, CP_SP, CI)
self.pid = PIDController((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)