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Update latcontrol_curvature.py

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infiniteCable
2025-06-10 17:35:52 +02:00
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parent 5260d68b9f
commit 2b156073d5
1 changed files with 0 additions and 2 deletions
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selfdrive/controls/lib/latcontrol_curvature.py
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@@ -36,8 +36,6 @@ class LatControlCurvature(LatControl):
pid_log.error = float(desired_curvature - actual_curvature)
freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
if CS.steeringPressed:
self.pid.i *= 0.8 # soft decay
output_curvature = self.pid.update(pid_log.error, feedforward=gravity_adjusted_curvature, speed=CS.vEgo, freeze_integrator=freeze_integrator)