From 2d5573c1d6d2b9cc6297e6cafa1d487d1dc362cf Mon Sep 17 00:00:00 2001 From: infiniteCable2 Date: Sun, 7 Sep 2025 18:50:13 +0200 Subject: [PATCH] fix output --- selfdrive/controls/lib/latcontrol_angle.py | 2 +- selfdrive/controls/lib/latcontrol_pid.py | 2 +- selfdrive/controls/lib/latcontrol_torque.py | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py index 206078bdf..787bd2dbe 100644 --- a/selfdrive/controls/lib/latcontrol_angle.py +++ b/selfdrive/controls/lib/latcontrol_angle.py @@ -34,4 +34,4 @@ class LatControlAngle(LatControl): angle_log.saturated = bool(self._check_saturation(angle_control_saturated, CS, False, curvature_limited)) angle_log.steeringAngleDeg = float(CS.steeringAngleDeg) angle_log.steeringAngleDesiredDeg = angle_steers_des - return 0, float(angle_steers_des), desired_curvature, angle_log + return 0, float(angle_steers_des), angle_log diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py index 22eaff789..fd79c29bd 100644 --- a/selfdrive/controls/lib/latcontrol_pid.py +++ b/selfdrive/controls/lib/latcontrol_pid.py @@ -45,4 +45,4 @@ class LatControlPID(LatControl): pid_log.output = float(output_torque) pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited)) - return output_torque, angle_steers_des, desired_curvature, pid_log + return output_torque, angle_steers_des, pid_log diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index af0fe14bc..e4554ae46 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -97,4 +97,4 @@ class LatControlTorque(LatControl): pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited)) # TODO left is positive in this convention - return -output_torque, 0.0, desired_curvature, pid_log + return -output_torque, 0.0, pid_log