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Update controlsd.py

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infiniteCable2
2025-04-06 18:11:50 +02:00
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parent e6f6857a98
commit 298b2f677c
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/controlsd.py
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@@ -144,7 +144,7 @@ class Controls:
# Reset desired curvature to current to avoid violating the limits on engage
new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature
if self.enable_disturbance_correction:
new_desired_curvature = self.disturbance_controller.compensate(new_desired_curvature, self.curvature_3dof)
new_desired_curvature = self.disturbance_controller.compensate(CS, new_desired_curvature, self.curvature_3dof)
self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, new_desired_curvature, lp.roll)
actuators.curvature = self.desired_curvature